液压直驱手腕基于积分滑模面的自适应鲁棒控制  

Adaptive Robust Control of Hydraulic Direct Drive Wrist Based on Integral Sliding Surface

作　　者：李虎林 汪成文 赵二辉 成磊 LI Hulin;WANG Chengwen;ZHAO Erhui;CHENG Lei(School of Mechanical Engineering,Taiyuan University of Technology,Taiyuan Shanxi 030024,China;Shanxi Provincial Key Laboratory of Advanced Semiconductor Optoelectronic Devices and System Integration,Jincheng Research Institute of OPTO-Mechatronics Industry,Jincheng Shanxi 048000,China;Jincheng Research Institute of OPTO-Mechatronics Industry,Jincheng Shanxi 048000,China)

机构地区：[1]太原理工大学机械工程学院,山西太原030024 [2]晋城市光机电产业研究院,先进半导体光电器件与系统集成山西省重点实验室,山西晋城048000 [3]晋城市光机电产业研究院,山西晋城048000

出　　处：《机床与液压》2024年第21期103-111,共9页Machine Tool & Hydraulics

基　　金：国家自然科学基金项目(52475066);山西省回国留学人员科研项目(2024-052);山西省自然科学基金面上项目(20210302123155);先进半导体光电器件与系统集成山西省重点实验室课题项目(2023SZKF05)。

摘　　要：针对液压直驱手腕在参数不确定和未知干扰等不确定非线性存在情况下轨迹跟踪误差大的问题,对自适应鲁棒控制(ARC)算法做出改进,提出一种积分滑模面自适应鲁棒控制(ISMS-ARC)策略。基于手腕整体的高阶动力学模型引入积分滑模函数,并结合反步法和自适应鲁棒控制器设计方法构造控制器,在保证系统具有鲁棒性的同时实现对未知状态的解耦和对不确定参数的估计。结合李雅普诺夫稳定性理论证明控制器的稳定性。搭建基于AMESim、MATLAB/Simulink、ADAMS的手腕联合仿真模型,并将ISMS-ARC与ARC、DRC控制方法进行关节轨迹跟踪的仿真对比。结果表明:ISMS-ARC方法不仅有效减小了跟踪误差,而且在跟踪参考轨迹恒定或系统受到常值干扰时依然能实现渐进跟踪;与其他2种控制方法相比,该方法表现出更高的跟踪精度和更强的鲁棒性。Aiming at the problem that the large trajectory tracking error of hydraulic direct drive wrist in the presence of uncertain nonlinearity such as parameter uncertainty and unknown interference,the adaptive robust control(ARC)algorithm was improved,and an adaptive robust control method based on integral sliding mode surface adaptive robust control(ISMS-ARC)strategy was proposed.The integral sliding mode function was introduced to the higher-order dynamic model of the wrist,and the controller was constructed by combining backstepping and adaptive robust controller design method.The decoupling of unknown states and estimation to uncertain parameters were realized while ensuring the robustness of the system.The stability of the controller was demonstrated by combining Lyapunov stability theory.A wrist joint simulation model based on AMESim,MATLAB/Simulink and ADAMS was built,and the ISMS-ARC was compared with ARC and DRC control methods for joint trajectory tracking.The results indicate that the ISMS-ARC method can not only reduces the tracking error effectively,but also achieve asymptotic tracking when the tracking reference trajectory is constant or the system is subjected to constant interference.Compared with other two control methods,this method shows higher tracking accuracy and stronger robustness.

关 键 词：液压直驱手腕 积分滑模面 自适应鲁棒控制 

分 类 号：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]