基于非线性干扰观测器的液压机械臂反演鲁棒控制  

Backstepping Robust Control of Hydraulic Manipulator Based on Nonlinear Disturbance Observer

作　　者：张勇 赵二辉 汪成文 ZHANG Yong;ZHAO Erhui;WANG Chengwen(College 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)

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

出　　处：《机床与液压》2024年第21期125-131,共7页Machine Tool & Hydraulics

基　　金：山西省自然科学基金项目(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);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)。

摘　　要：针对液压机械臂中存在的高度非线性、未建模摩擦力、外部随机干扰等问题,建立液压机械臂动力学模型,提出一种基于非线性干扰观测器的反演鲁棒控制方法。非线性干扰观测器可以对系统中存在的干扰进行观测与补偿,从而提高反演鲁棒控制器的控制性能。对所提控制方法的稳定性进行理论推导与分析,并通过AMESim、MATLAB/Simulink联合仿真验证其有效性。仿真研究表明:该控制方法能够准确观测与补偿未知干扰,控制效果明显优于PID以及反演鲁棒控制。Aiming at the problems of high nonlinearity,unmodeled friction forces,and external random disturbances in hydraulic manipulators,a dynamic model of the hydraulic manipulator was established,and a backstepping robust control method based on a nonlinear disturbance observer was proposed.The disturbance in the system could be observed and compensated by the nonlinear interference observer,so the control performance of the backstepping robust controller could be improved.The stability of the proposed control method was theoretically derived and analyzed,and its effectiveness was validated by AMESim and MATLAB/Simulink co-simulation.Simulation results show that this control method can be used to accurately observe and compensate for unknown disturbances,and its control performance is significantly superior to PID and backstepping robust control.

关 键 词：液压机械臂 非线性干扰观测器 反演鲁棒控制 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置]