闭链级混联式液压机械臂运动控制方法  

Motion control method of hybrid hydraulic manipulator of closed chains

作　　者：何嘉懿 张道德[1] 王君明[1] HE Jiayi;ZHANG Daode;WANG Junming(School of Mechanical Engineering,Hubei University of Technology,Wuhan 430000,China)

机构地区：[1]湖北工业大学机械工程学院,湖北武汉430000

出　　处：《机电工程》2024年第9期1540-1553,共14页Journal of Mechanical & Electrical Engineering

基　　金：国家自然科学基金资助项目(52075152)。

摘　　要：针对含有多个闭链结构的液压机械臂非线性强、控制精度低等特点,采用了虚拟分解控制方法消除了系统非线性引入的误差,以提高其控制精度。首先,根据驱动方式不同将整个机械臂分解为四类结构,针对每一类结构再将其虚拟分割成每一子系统,对每个子系统分别建立了刚体动力学模型、液压执行器流体动力学模型;然后,基于刚体动力学模型和流体动力学模型分别设计了刚性连杆控制律和液压执行器控制律,其前馈控制量和误差反馈量是高精度控制的基础;最后,使用Simulink的Simscape模块建立了该机械臂的多物理域混合模型,进行了轨迹跟踪效果验证,同时引入了控制性能指标,在不同机械臂的液压执行器空间进行了计算。研究结果表明:相比于比例-积分-微分控制器,基于虚拟分解控制理论搭建的控制器控制精度提升较大,单关节平均绝对误差最大降低了88.9%,且控制效果与其他较先进液压控制器的性能指标相近。针对含复杂闭链结构的混联式液压机械臂,采用虚拟分解控制理论能有效提升控制精度。In view of the strong nonlinearity and low control accuracy of the hydraulic manipulator with multiple closed-chain structures,the virtual decomposition control(VDC) method was used to eliminate the error introduced by the nonlinearity of the system and improve the control accuracy.Firstly,according to the different driving modes,the whole robotic arm was decomposed into four types of structures,and it was virtually divided into each subsystem for each type of structure,and the rigid body dynamic model and hydraulic actuator fluid dynamic model were established for each subsystem.Then,based on the rigid body dynamics model and the fluid dynamics model,the rigid connecting rod control law and the hydraulic actuator control law were respectively designed,and the feedforward control and error feedback were the basis of high-precision control.Finally,the Simscape module of Simulink was used to establish a multi-physics hybrid model of the robotic arm,and the trajectory tracking effect was verified.In addition,control performance indicators were introduced,which were calculated in the hydraulic actuator space of different robot arms.The research results show that comparing with the proportion integration differentiation(PID) controller,the controller based on the virtual decomposition control theory has a greater improvement in control accuracy,and the average absolute error of a single joint is reduced by 88.9%,and the control effect is similar to the performance index of other more advanced hydraulic controllers,which proves that virtual decomposition control theory can effectively improve the control precision of hybrid hydraulic manipulator with complex closed chain structure.

关 键 词：凿岩机器人 混联式机械臂 虚拟分解控制 动力学模型 控制方法 比例-积分-微分控制器 

分 类 号：TH137.5[机械工程—机械制造及自动化] TP241[自动化与计算机技术—检测技术与自动化装置] TP273[自动化与计算机技术—控制科学与工程]