柔性机械臂的鲁棒自适应跟踪控制研究  

Research on Robust Adaptive Tracking and Control of Flexible Manipulator

作　　者：彭馨梅 王子杰 PENG Xinmei;WANG Zijie(School of Mechanical Engineering and Transportation,Southwest Forestry University,Kunming 650224)

机构地区：[1]西南林业大学机械与交通学院,昆明650224

出　　处：《现代制造技术与装备》2024年第11期205-209,共5页Modern Manufacturing Technology and Equipment

摘　　要：针对柔性机械臂的非线性动态特性及外部扰动问题,提出一种鲁棒自适应跟踪控制策略。首先,基于拉格朗日方程推导出柔性机械臂的动力学模型,分析摩擦力与时变扰动对系统性能的影响。其次,为了实现高精度的轨迹跟踪控制,采用反步控制方法设计逐步递推的控制律,并结合扰动观测器实时估计外界扰动。自适应律用于动态调整控制增益以提高系统的健壮性。最后,通过MATLAB/Simulink仿真实验,验证该控制策略在处理复杂非线性耦合和外部扰动时的有效性。实验结果表明,所提方法在跟踪精度、误差收敛速度和抗干扰能力方面优于传统非线性比例-微分(Proportional Derivative,PD)控制器,证明了该控制器的高效性和应用潜力。A robust adaptive tracking control strategy is proposed to solve the nonlinear dynamic characteristics and external disturbance of a flexible manipulator.Firstly,the dynamic model of the flexible manipulator is derived based on Lagrange equation,and the effects of friction force and time-varying disturbance on the system performance are analyzed.Secondly,in order to realize the trajectory tracking control with high precision,the backward step control method is used to design the stepwise recursive control law,and the disturbance observer is combined to estimate the external disturbance in real time.The adaptive law is used to dynamically adjust the control gain to improve the robustness of the system.Finally,the effectiveness of the control strategy in dealing with complex nonlinear coupling and external disturbance is verified by MATLAB/Simulink simulation experiments.The experimental results show that the proposed method is superior to the traditional nonlinear Proportional Derivative(PD)controller in tracking accuracy,error convergence speed and anti-interference ability,which proves the high efficiency and application potential of the controller.

关 键 词：柔性机械臂 跟踪控制 鲁棒自适应 

分 类 号：TP273[自动化与计算机技术—检测技术与自动化装置] TP241[自动化与计算机技术—控制科学与工程]