矿山作业机器人直流伺服驱动系统控制研究  

Research on DC Servo Drive System Control for Mine Operation Robot

作　　者：李永密 吴金尘 陈淼 余洪伟 周建 LI Yongmi;WU Jinchen;CHEN Miao;YU Hongwei;ZHOU Jian(National Mine Safety Administration,Beijing 100713 China;Changsha Institute of Mining Research Co.,Ltd.,Changsha,Hunan 410012 China;State Key Laboratory of Safety Technology for Metal Mines,Changsha,Hunan 410012 China)

机构地区：[1]国家矿山安全监察局,北京100013 [2]长沙矿山研究院有限责任公司,湖南长沙410012 [3]金属矿山安全技术国家重点实验室,湖南长沙410012

出　　处：《矿业研究与开发》2024年第10期189-196,共8页Mining Research and Development

摘　　要：为了解决矿山作业机器人执行终端伺服驱动系统响应速度慢、定位误差大、易受外部干扰等问题,提出了一种嵌套饱和控制与积分滑模控制相结合的有限时间镇定控制方法。通过对外部干扰下的直流伺服驱动三阶线性不确定系统模型进行分析,基于积分滑模设计思想,引入了嵌套饱和控制策略,结果表明,该方法使系统状态输出在有限时间内到达滑模面并实现镇定,从而实现了执行终端伺服直流电机输出角速度的快速精准控制。仿真试验结果表明,该控制方法不仅提高了矿山作业机器人伺服直流驱动系统的响应速度和控制精度,还减弱了外部干扰的影响,显著提升了系统的稳定性。In order to solve the problems of slow response speed, large positioning error and vulnerability to external disturbance in the servo drive system of mine operation robot execution terminal, a finite-time stabilization control method combining nested saturation control and integral sliding mode control was proposed. By analyzing the 3-order linear uncertain system model of DC servo drive under external disturbance, a nested saturation control strategy was introduced based on the integral sliding mode design idea. The results show that the method makes the system state output reach the sliding mode surface in a finite time and achieve stabilization, thus realizing the fast and accurate control of the output angular velocity of the executing terminal servo DC motor. The simulation results show that the control method not only improves the response speed and control accuracy of the servo DC drive system of the mine operation robot, but also weakens the influence of external disturbance and significantly improves the stability of the system.

关 键 词：矿山作业机器人 伺服驱动系统 嵌套饱和控制 积分滑模控制 有限时间镇定控制方法 

分 类 号：TD67[矿业工程—矿山机电]