液压重载二自由度手爪的自适应滑模位置控制  

Adaptive Sliding Mode Positioning Control of Hydraulic Heavy-load Two-degree-of-freedom Gripper

作　　者：曹张蔚 罗元春 艾吉昆 纵怀志 张军辉[1] 徐兵 CAO Zhangwei;LUO Yuanchun;AI Jikun;ZONG Huaizhi;ZHANG Junhui;XU Bing(School of Mechanical Engineering,Zhejiang University,Hangzhou,Zhejiang 310027)

机构地区：[1]浙江大学机械工程学院,浙江杭州310027

出　　处：《液压与气动》2024年第12期63-70,共8页Chinese Hydraulics & Pneumatics

摘　　要：液压重载二自由度手爪作为机械臂的末端属具,对机械臂的抓取精准度、鲁棒性等有着重要影响。然而,液压系统的非线性、参数时变性等特征限制了手爪的应用。基于一种重载二自由度液压手爪研究了自适应滑模控制方法,并在四种负载工况下进行位置控制仿真。结果表明,自适应滑模控制器能够有效对二自由度手爪实现精确的位置控制。在重载工况下,与PID控制器、滑模控制器相比,自适应滑模控制器的控制误差可分别缩小85%、60%以上。As the end attachment of the manipulator,the hydraulic heavy-load two-degree-of-freedom gripper has an important impact on the gripping accuracy,robustness and other performance of the manipulator.However,the nonlinear characteristics and time-varying parameters of the hydraulic system limit the application of the gripper.Based on a heavy-load two-degree-of-freedom hydraulic gripper,this paper studies the adaptive sliding mode control method.Position control simulation is performed under four load conditions.The simulation results show that the adaptive sliding mode controller can effectively achieve accurate position control of the two-degree-of-freedom gripper.Under heavy-load conditions,the control error of the adaptive sliding mode controller can be reduced by more than 85%and 60%compared with the PID controller and the sliding mode controller,respectively.

关 键 词：液压机器人 机械手爪 自适应滑模控制 位置控制 

分 类 号：TH137[机械工程—机械制造及自动化]