基于前馈LADRC的机械臂轨迹跟踪控制  

Trajectory Tracking Control of Robot Manipulators Based on Feedforward LADRC

作　　者：宋海霞 宋萌萌[2] 葛炎风 何建华 翁伟[1,3] SONG Haixia;SONG Mengmeng;GE Yanfeng;HE Jianhua;WENG Wei(College of Intelligent Manufacturing,Fujian Polytechnic of Information Technology,Fuzhou 350003,China;New Energy Automobile Motor Industry Technology Development Base,Ningde Normal University,Ningde 352000,China;Fujian Fukien Abbot Automation Equipment Co.,Ltd.,Fuzhou 350003,China)

机构地区：[1]福建信息职业技术学院智能制造学院,福建福州350003 [2]宁德师范学院福建省新能源汽车电机产业技术开发基地,福建宁德352000 [3]福建渃博特自动化设备有限公司,福建福州350003

出　　处：《新乡学院学报》2024年第6期65-71,共7页Journal of Xinxiang University

基　　金：福建省中青年教师教育科研项目(JAT210734);福建省新能源汽车电机产业技术开发基地开放基金资助项目(XNYKF202302)。

摘　　要：针对机械臂轨迹跟踪精度受系统耦合、参数摄动和外界干扰等影响的问题,提出了一种基于前馈线性自抗扰控制器的机械臂轨迹跟踪控制方法。建立串联二自由度机械臂的动力学模型,设计基于前馈线性自抗扰控制器的轨迹跟踪控制系统,通过引入自抗扰控制器参考角加速度前馈对控制系统性能进行仿真分析和实验验证。研究结果表明,与传统线性自抗扰控制器相比,所提出的控制器可明显提高机械臂轨迹跟踪控制精度,系统不确定参数具有强鲁棒性。Aiming at the problem that the trajectory tracking accuracy of the robot manipulator is affected by system coupling,parameter uptake and external interference,a trajectory tracking control method of the robot manipulator based on feedfor-ward LADRC is proposed.The dynamics model of the tandem 2-DOF robot manipulator is established,the trajectory tracking control system based on feedforward LADRC is designed.And the performance of the control system is simulated,analyzed and experimentally verified by introducing the reference angular acceleration feedforward of ADRC.The results show that the proposed controller can significantly improve the trajectory tracking control accuracy of the robot manipulator compared with the traditional LADRC,and the system uncertain parameters have strong robustness.

关 键 词：前馈LADRC 机械臂 不确定参数 轨迹跟踪 解耦控制 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置]