液压重载机械臂动力学参数辨识及前馈控制  

Dynamic parameter identification and feedforward control of hydraulic heavy-duty manipulator

作　　者：李照星 刘楠[1,2] 王收军[1,2] LI Zhaoxing;LIU Nan;WANG Shoujun(Tianjin Key Laboratory for Advanced Mechatronic System Design and Intelligent Control,Tianjin University of Technology,Tianjin 300384,China;National Demonstration Center for Experimental Mechanical and Electrical Engineering Education,Tianjin University of Technology,Tianjin 300384,China)

机构地区：[1]天津理工大学天津市先进机电系统设计与智能控制重点实验室,天津300384 [2]天津理工大学机电工程国家级实验教学示范中心,天津300384

出　　处：《天津理工大学学报》2024年第4期63-68,共6页Journal of Tianjin University of Technology

基　　金：国家重点研发计划项目(2017YFB1302100)。

摘　　要：以全液压驱动的七自由度重载机械臂为研究对象,首先根据牛顿-欧拉迭代算法建立七自由度液压重载机械臂的动力学方程并线性化处理,得到由关节运动状态、关节力矩值和最小惯性参数集组成的线性表达式;然后将机械臂按照改进的有限项傅里叶级数激励的轨迹模型进行工作实验,把实验中采集到的运动数据带入线性化处理后的动力学方程中,通过最小二乘法完成待辨识参数的计算并进行验证;最后用辨识出的动力学参数构建更为准确的液压重载机械臂的动力学模型,并制定基于动力学模型的力矩前馈补偿控制策略,同时与传统三环比例积分微分(proportional-integral-derivative,PID)控制方法进行实验对比分析,验证说明基于动力学模型的前馈控制机制能有效提高液压重载机械臂的轨迹跟踪精度。Taking the fully hydraulically driven seven-degree-of-freedom heavy-duty manipulator as the research object,firstly,the dynamic equation of the seven-degree-of-freedom hydraulic heavy-duty manipulator is established according to the Newton-Euler iterative algorithm and linearized.The linear expression composed of the joint motion state,the joint torque value and the minimum inertia are obtained parameter set;then the manipulator is operated according to the trajectory model of the improved finite-term Fourier series excitation,and the motion data collected in the experiment is brought into the linearized dynamic equation.The parameters to be identified are calculated and verified by the least squares method;finally,a more accurate dynamic model of the hydraulic heavy-duty manipulator is constructed with the identified dynamic parameters,and a torque feedforward compensation control strategy based on the dynamic model is formulated,compared with the traditional three-loop proportional-integral-derivative(PID)control method.The verification shows that the feedforward control mechanism based on the dynamic model can effectively improve the trajectory tracking accuracy of the hydraulic heavy-duty manipulator.

关 键 词：重载机械臂 动力学 参数辨识 前馈控制 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置]