液压机械臂驱动关节的非线性摩擦力自适应补偿控制  

Nonlinear Friction Adaptive Compensation Control of Hydraulic Manipulator Joint

作　　者：夏杨修 吕立彤 陈正[1,3] 赫连勃勃 XIA Yang-xiu;LYU Li-tong;CHEN Zheng;HELIAN Bo-bo(Ocean College,Zhejiang University,Zhoushan,Zhejiang 316021;School of Mechanical Engineering,Shijiazhuang Tiedao University,Shijiazhuang,Hebei 050043;The State Key Laboratory of Fluid Power and Mechatronic Systems,Zhejiang University,Hangzhou,Zhejiang 310027;Institute of Mobile Machines,Karlsruhe Institute of Technology,Karlsruhe,Germany 376131)

机构地区：[1]浙江大学海洋学院,浙江舟山316021 [2]石家庄铁道大学机械工程学院,河北石家庄050043 [3]浙江大学流体传动与机电系统国家重点实验室,浙江杭州310027 [4]卡尔斯鲁厄理工学院移动机械研究所,德国卡尔斯鲁厄376131

出　　处：《液压与气动》2024年第1期20-30,共11页Chinese Hydraulics & Pneumatics

基　　金：国家自然科学基金(52105065,52075476);浙江省自然科学基金杰出青年基金(LR23E050001);河北省自然科学基金(E2021210011)。

摘　　要：液压机械臂在重载任务中至关重要,但在精细化作业中却普遍存在“力量够大、精细不足”的问题。无论采用全自主还是半自主的作业方式,精密运动控制都是实现精细作业的首要基础。液压机械臂多采用液压缸直动推动关节转动的非线性驱动关节构型,摩擦分别来自液压缸和转动轴,但现研究大多忽略直动摩擦而仅考虑转动摩擦,因而运动控制中的摩擦补偿不到位。建立了面向模型补偿控制的液压机械臂非线性驱动关节动力学模型,全面考虑液压缸和转动轴的摩擦特性,进而提出摩擦补偿控制方法。结合基于最小二乘的在线参数自适应律,设计了直接/间接自适应鲁棒控制器。最后开展多组仿真对比,验证所提控制方法对液压机械臂驱动关节控制精度的提升效果。Hydraulic manipulator plays a crucial role in heavy-duty tasks,but it commonly faces the issue of“sufficient power,insufficient precision”in high precision operations.Whether in fully autonomous or semiautonomous modes,precise motion control is the fundamental requirement for achieving fine operations.Hydraulic manipulators often adopt a nonlinear drivetrain configuration where linear motion of the hydraulic cylinder drives the joint rotation,with friction arising from both the cylinders and rotational axes.However,current research mainly focuses on rotational friction while neglecting linear friction,leading to inadequate friction compensation in motion control.This paper establishes a nonlinear dynamic model of the hydraulic manipulator's drivetrain,specifically targeting model compensation control.It comprehensively considers the friction characteristics of both the cylinders and rotational axes and proposes a friction compensation control method.Combining the least-squares-based online parameter adaptation,direct/indirect adaptive robust controllers are designed.Finally,multiple sets of simulations are conducted to validate the effectiveness of the proposed control method in improving the control precision of the hydraulic manipulator's drivetrain.

关 键 词：液压机械臂 运动控制 自适应控制 摩擦补偿 

分 类 号：TH137[机械工程—机械制造及自动化]