串联工业机器人的自适应稳态增益调整技术  

Adaptive Steady-State Gain Adjustment Technology for Serial Industrial Robots

作　　者：牛鑫[1] 冯洪宁 NIU Xin;FENG Hong-ning(Department of Electrical Engineering,Jiyuan Vocational and Technical College,He’nan Jiyuan 459000,China;School of Mechanical,He’nan University,He’nan Kaifeng 475000,China)

机构地区：[1]济源职业技术学院电气工程系,河南济源459000 [2]河南大学机械学院,河南开封475000

出　　处：《机械设计与制造》2024年第6期338-341,347,共5页Machinery Design & Manufacture

基　　金：河南省高等学校科学研究计划立项(20A180040)。

摘　　要：由于时滞控制具有模型无关性、简单性和鲁棒性等优点,在工业机器人控制中得到了广泛的应用。然而,过高的增益会导致系统响应不稳定或振荡。为了解决这一问题,提出了一种用于串联机械臂时滞控制的自适应增益调整算法。首先,通过机器人机械臂时滞控制原理分析表明了恒定增益存在的缺陷。然后,采用滑动变量和边界条件为时滞控制设计了一种自适应增益调整算法,能够在无需大量的调整参数的条件下,自动将增益调整到满足时滞控制稳定性条件的稳定值。仿真和实验结果验证了所提自适应增益调整算法的有效性。研究结果表明,与传统的时滞控制(大增益)相比,所提算法将机械手跟踪的均方根误差和最大误差分别减小了31.2%和61.4%,并且即使在初始值不稳定的情况下,仍可以提供稳定的增益,控制性能显著提高。Because of its model independence,simplicity and robustness,time-delay control has been widely used in industrial robot control.However,too high gain will lead to unstable or oscillating system response.To solve this problem,an adaptive gain adjustment algorithm for time delay control of serial manipulator is proposed.Firstly,through the analysis of the time-delay con-trol principle of robot arm,the defects of constant gain are shown.Then,an adaptive gain adjustment algorithm is designed for time-delay control by using sliding variables and boundary conditions,which can automatically adjust the gain to a stable value that satisfies the stability conditions of time-delay control without a large number of adjustment parameters.Simulation and ex-perimental results verify the effectiveness of the proposed adaptive gain adjustment algorithm.The results show that compared with the traditional time-delay control(large gain),the proposed algorithm reduces the root mean square error and the maximum er-ror of manipulator tracking by 31.2%and 61.4%,respectively,and can still provide stable gain even when the initial value is un-stable,and the control performance is significantly improved.

关 键 词：机器人机械臂 时滞控制 自适应 滑动变量 边界条件 

分 类 号：TH16[机械工程—机械制造及自动化] TP241[自动化与计算机技术—检测技术与自动化装置] TH122[自动化与计算机技术—控制科学与工程]