基于复合广义预测控制的受扰机械臂轨迹跟踪研究  

Research on trajectory tracking of disturbed robotic manipulators based on composite generalized predictive control

作　　者：徐恒吉 XU Hengji(China Railway 14th Bureau Group Co.,Ltd.,Jinan 250014,Shandong,China)

机构地区：[1]中铁十四局集团有限公司,山东济南250014

出　　处：《中国工程机械学报》2024年第3期299-304,共6页Chinese Journal of Construction Machinery

基　　金：中铁十四局集团有限公司科研课题(十四局科创2022-699号)。

摘　　要：针对一类含不确定动态的机械臂轨迹跟踪控制问题,提出一种基于干扰观测技术与广义预测控制(GPC)相结合的复合控制方案。实现了高精度、快频响的机械臂末端轨迹调节,同时保证该系统具有一定鲁棒性能的控制目标。首先,引入干扰软测量技术对机械臂系统中含有的不确定性进行精确估计,通过系统化地前馈补偿设计修正系统的稳态信号,得到经过动态补偿的预测模型。随后,利用所得的标称系统模型设计GPC中的滚动优化运算,通过求解与关节角度跟随误差相关的性能指标优化函数,得出GPC的显式解析解。最后,在芜湖长江隧道盾构机刀盘焊接机器人平台上进行轨迹跟踪实验。结果表明:提出的方法相比于传统逆动力学控制(IDC)具有更高的轨迹控制精度以及抗干扰能力。For the trajectory tracking control problem of a class of robotic manipulators(RMs) with uncertain dynamics,to improve the tracking precision,fast response for the end-effector trajectory regulation of the RMs,and meanwhile,guarantee the robustness of RMs system,a composite controller based on disturbance observation technology and generalized predictive control(GPC) is proposed.To this end,the disturbance observer is first introduced to accurately estimate the uncertainty contained in the RMs system,then systematically design feedforward compensation to modify the steady-state signal of the system,and further,the predictive model error is subsequently modified.In what follows,utilize the obtained nominal system model to perform the recedinghorizon optimization in generalized predictive control,and by solving the performance index optimization function related to the joint angle tracking error,the analytical solution of the generalized predictive controller is obtained.Finally,the trajectory tracking experiment is carried out on a welding robot platform for the cutter of Wuhu Yangtze River tunnel shield machine,and the results show that the proposed method has higher trajectory control accuracy and anti-disturbance ability than the traditional inverse dynamics control.

关 键 词：广义预测控制 机械臂 轨迹调节 扰动抑制 干扰观测器 

分 类 号：TP273[自动化与计算机技术—检测技术与自动化装置]