基于位置跟踪的机械臂多电机新型滑模控制策略  

A novel sliding mode control strategy of multi-motor for robot arm based on position tracking

作　　者：王宏志 王婷婷 兰淼淼 徐硕 WANG Hong-zhi;WANG Ting-ting;LAN Miao-miao;XU Shuo(School of Computer Science and Engineering,Changchun University of Technology,Changchun 130012,China)

机构地区：[1]长春工业大学计算机科学与工程学院,长春130012

出　　处：《吉林大学学报（工学版）》2024年第5期1443-1458,共16页Journal of Jilin University:Engineering and Technology Edition

基　　金：吉林省科技厅项目(20200201009JC,20210201051GX,20210203161SF);吉林省教育厅项目(JJKH20220686KJ)。

摘　　要：为了解决多电机驱动的机械臂系统在复杂环境运行时,其关节位置容易受到负载等外界干扰,导致位置的跟踪误差及同步误差较大,造成系统工作性能下降等问题,提出了一种新型多电机环形耦合控制策略(NRCC)。NRCC中设置了同步比例系数保证多电机协调运行;设计了自抗扰补偿控制器和相邻平均误差处理器,自抗扰补偿控制器通过相邻平均误差信号对电机位置控制信号进行二次补偿,减小了多电机间的同步误差;同时,提出了一种自适应神经模糊推理系统(ANFIS)优化的新型指数趋近率滑模跟踪控制器(ANFIS-SMC)和扰动观测器保证电机的位置跟踪性能。仿真结果表明:该控制策略有效地减小了多电机间的同步误差,保证了电机的高精度跟踪性能。When the multi-motors driven robotic arm system operates in a complex environment, its joint position is easily disturbed by external interference such as load, resulting in large tracking error and synchronization error, which causes system performance degradation. To solve this problem, a new multimotors ring coupling control(NRCC) strategy is proposed. The synchronous proportional coefficient is set in NRCC to ensure the coordinated operation of multiple motors. The active disturbance rejection compensation controller(ADRCC) and the adjacent mean error processor are designed. The ADRCC compensates the position control signal of the motor twice through the adjacent mean error signal, which reduces the synchronization error between multi-motors. Meanwhile, a novel adaptive neuro-fuzzy inference system(ANFIS) optimizes exponential reaching rate sliding mode tracking controller(ANFISSMC) and disturbance observer are proposed to ensure the position tracking performance of motors. The simulation results show that the proposed control strategy effectively reduces the synchronization error between multiple motors and ensures the high-precision tracking performance of the motors.

关 键 词：控制理论与控制工程 机械臂 多电机 环形耦合控制 自适应神经模糊推理系统 滑模跟踪控制器 

分 类 号：TP273[自动化与计算机技术—检测技术与自动化装置]