移动机械臂轨迹的自抗扰滑模跟踪控制方法  

Mobile Manipulator Trajectory Tracking Method Based on Active Disturbance Rejection Sliding Mode Control

作　　者：宋积满 魏国莲 肖中杰[3] SONG Jiman;WEI Guolian;XIAO Zhongjie(Network and Modern Education Center of Qinghai Higher Vocational and Technical Institute,Qinghai Haidong 810799,China;Department of Mechanical and Electrical Engineering of Qinghai Higher Vocational and Technical Institute,Qinghai Haidong 810799,China;Qinghai Nationalities University,Computer Science Institute,Qinghai Xining 810007,China)

机构地区：[1]青海高等职业技术学院网络与现代教育中心,青海海东810799 [2]青海高等职业技术学院机电工程系,青海海东810799 [3]青海民族大学计算机学院,青海西宁810007

出　　处：《机械设计与制造》2025年第1期52-55,61,共5页Machinery Design & Manufacture

基　　金：青海省教育科学“十三五”规划2019年度重点课题项(19QJG11)。

摘　　要：为了提高移动机械臂在内部参数不确定性和外部扰动作用下的轨迹跟踪精度,提出了机械臂的自抗扰滑模控制方法。介绍了全方位移动机械臂工作原理,使用拉格朗日法建立了机械臂动力学模型。分析了自抗扰控制器的工作原理,在扩展状态观测器中改进了扰动量估计函数,提高了扰动量估计速度和精度;使用滑模控制代替自抗扰中的PD控制,从而提高控制器的鲁棒性和快速响应能力,基于上述改进,提出了机械臂轨迹的自抗扰滑模跟踪控制方法。经仿真验证,当机械臂系统存在内部参数不确定和外部扰动时,标准自抗扰控制的轨迹跟踪误差为0.5201m,自抗扰滑模控制的轨迹跟踪误差为0.2153m。验证了自抗扰滑模控制的鲁棒性和跟踪精确性。In order to improve the trajectory tracking accuracy of mobile manipulator under internal parameter uncertainty and external disturbance,an active disturbance rejection sliding mode control method is proposed.The working principle of omnidirectional mobile manipulator is introduced,and the dynamic model of manipulator is established by Lagrange method.The working principle of ADRC is analyzed,and the disturbance estimation function is improved in the extended state observer to im⁃prove the speed and accuracy of disturbance estimation;Sliding mode control is used to replace PD control in ADRC,so as to im⁃prove the robustness and fast response ability of the controller.Based on the above improvements,an ADRC sliding mode tracking control method for manipulator trajectory is proposed.The simulation results show that when the manipulator system has internal parameter uncertainty and external disturbance,the trajectory tracking error of standard ADRC is 0.5201m and that of ADRC sliding mode control is 0.2153m.The robustness and tracking accuracy of active disturbance rejection sliding mode control are verified.

关 键 词：机械臂 轨迹跟踪 自抗扰滑模控制 鲁棒性 扩展状态观测器 

分 类 号：TH16[机械工程—机械制造及自动化] TP241[自动化与计算机技术—检测技术与自动化装置]