电力巡检机械臂终端滑模鲁棒控制方法研究  

Research on Sliding Mode Robust Control Method for Terminal of Electric PowerInspection Robot Arm

作　　者：韩晓翔 丁戈 杨晓亮 杨家龙 马辉欣 HAN Xiaoxiang;DING Ge;YANG Xiaoliang;YANG Jialong;MA Huixin(Ultra High Voltage Branch,State Grid Xinjiang Electric Power Co.,Ltd.,Urumqi 830063,China)

机构地区：[1]国网新疆电力有限公司超高压分公司,新疆乌鲁木齐830063

出　　处：《机械与电子》2024年第7期52-56,共5页Machinery & Electronics

基　　金：新疆电力有限公司科技项目(5230CD230001)。

摘　　要：电力巡检机械臂系统通常具有较强的非线性和不确定性,包括负载变化、摩擦和摆动等因素。这些非线性和不确定性对控制系统的稳定性造成影响,导致传统的控制设计方法难以实现精准控制,且存在一定误差。为此,提出电力巡检机械臂终端滑模鲁棒控制方法。将电力巡检机械臂投影至笛卡尔坐标系,得到机械臂末端执行器位姿信息,将其作为滑模控制器的参数,结合模糊自适应算法与李雅普诺夫(Lyapunov)算法,构建机械臂滑模控制器控制律,获取控制信号。利用径向基函数(RBF)网络逼近不确定项,获取其控制律,根据鲁棒项,输出RBF网络鲁棒控制结果。实验表明,所提方法能够在实现电力巡检机械臂精准作业控制的同时,避免因未知扰动造成的机械臂抖动,且关节转角控制误差小、响应快及超调量低。The power inspection manipulator system usually has strong nonlinearity and uncertainty,including load change,friction,swing and other factors.These nonlinearities and uncertainties affect the stability of the control system,which makes it difficult for the traditional control design methods to achieve accurate control,and there are some errors.Therefore,a sliding mode robust control method for power inspection robot arm is proposed.The power inspection robot arm is projected to the Cartesian coordinate system to obtain the position and pose information of the end actuator of the robot arm,which is used as the parameter of the sliding mode controller.The control law of the sliding mode controller of the robot arm is constructed by combining the fuzzy adaptive algorithm and the Lyapunov algorithm to obtain the control signal.The Radial Basis Function(RBF)network is used to approach the uncertain term,its control law is obtained,and the robust control results of the RBF network are output according to the robust term.Experiments show that the proposed method can realize accurate operation control of the power inspection robot arm while avoiding the manipulator jitter caused by unknown disturbance.The joint angle control error is small,the response is fast,and the overshoot is low.

关 键 词：滑模控制器 模糊自适应算法 Lyapunov算法 RBF网络 不确定项逼近 

分 类 号：TM73[电气工程—电力系统及自动化] TP241[自动化与计算机技术—检测技术与自动化装置]