气动3-UPU型机器人位姿控制  

Pneumatic 3-UPU Type Robot Pose Control

作　　者：刘昱 陶春龙 吕佳洋 程杰 LIU Yu;TAO Chun-long;LV Jia-yang;CHENG Jie(School of Information Engineering,Beijing Instituteof Petrochemical Technology,Beijing 102617)

机构地区：[1]北京石油化工学院信息工程学院,北京102617

出　　处：《液压与气动》2024年第6期56-64,共9页Chinese Hydraulics & Pneumatics

基　　金：国家自然科学基金(62273028)。

摘　　要：对于气动伺服系统而言,活塞的运动、参数时变以及建模的不确定都进一步增加了高精度位置控制的难度。针对气动3-UPU机器人系统建立三阶数学模型,为控制算法提供参考模型;提出基于自抗扰(Auto-disturbance Rejection Controller, ADRC)的高精度位姿控制算法,以非线性PID为基础,结合跟踪微分器安排快速且平稳的过渡过程,将气缸内泄漏流量作为扰动设计扩张状态观测器,构建适用于高精度气动3-UPU机器人的ADRC控制器。结果表明:自抗扰控制器具有较强的鲁棒性,稳态控制精度约为0.45 mm, 0.2 Hz时动态跟踪均方误差小于10.0 mm。For pneumatic servo systems,the motion of the piston,parameter variations,and modeling uncertainties further increase the difficulty of high-precision position control.A third-order mathematical model is established for the pneumatic 3-UPU robot system to provide a roughly accurate reference model for control algorithms.An high-precision pose control algorithm based on auto-disturbance rejection controller(ADRC)is proposed,which combines nonlinear PID with a tracking differentiator to arrange a fast and smooth transition process.The leakage flow rate of the cylinder is utilized as a disturbance to design an extended state observer,constructing an ADRC controller suitable for high-precision pneumatic 3-UPU robots.Results show that the ADRC controller has strong robustness,with a steady-state control accuracy of approximately 0.45 mm and a dynamic(0.2 Hz)tracking root mean square error of less than 10.0 mm.

关 键 词：位姿控制 自抗扰 3-UPU机器人 气动系统建模 

分 类 号：TH138[机械工程—机械制造及自动化]