初速度不为零的平面欠驱动机械系统稳定控制  

Stable Control Strategy for Planar Multi-link Underactuated Mechanical System with Non-zero Initial Velocity

作　　者：黄自鑫 侯梦毓 秦翔宇 王乐君 HUANG Zixin;HOU Mengyu;QIN Xiangyu;WANG Lejun(School of Electrical and Information Engineering,Wuhan Institute of Technology,Wuhan 430205,China;Hubei Key Laboratory of Digital Textile Equipment,Wuhan Textile University,Wuhan 430200,China;Chongqing Key Laboratory of Complex Systems and Bionic Control,Chongqing University of Posts and Telecommunications,Chongqing 400065,China)

机构地区：[1]武汉工程大学电气信息学院,武汉430205 [2]武汉纺织大学湖北省数字化纺织装备重点实验室,武汉430200 [3]重庆邮电大学重庆市复杂系统与仿生控制重点实验室,重庆400065

出　　处：《哈尔滨理工大学学报》2024年第5期105-113,共9页Journal of Harbin University of Science and Technology

基　　金：湖北省自然科学基金(2023AFB380);智能机器人湖北省重点实验室创新基金(HBIRL202301);湖北省数字化纺织装备重点实验室开放课题(KDTL2022003)。

摘　　要：针对末端被动关节初速度不为零的平面多连杆欠驱动机械臂系统稳定控制问题,提出了一种基于模型降阶和开环迭代控制的控制策略。根据平面多连杆欠驱动机械臂的结构特点,采用模型降阶的方法,将原来的平面多连杆欠驱动系统降阶为平面虚拟两连杆欠驱动系统。根据降阶后平面虚拟两连杆欠驱动系统具有的幂零近似特性,设计了一种开环迭代控制器,控制该平面虚拟两连杆欠驱动系统到达目标状态。同时,平面多连杆欠驱动机械臂末端点也被控制到目标位置。最后,选择了不同结构参数的平面多连杆欠驱动机械臂系统进行仿真实验,实验结果验证了所提控制方法的有效性。Aiming at the stability control problem of planar multi-link underactuated manipulator system with non-zero initial velocity of last passive joint,a stable control strategy based on model reduction and open-loop iterative control is presented.According to the structural characteristic of this planar multi-link underactuated system,the original system model is reduced to a planar virtual two-link underactuated system by using the method of model reduction.Considering the existence of the nilpotent approximation characteristic of the reduced system,the open iterative controllers are designed to drive this planar virtual two-link underactuated system to its target states.At the same time,the end joint of planar multi-link underactuated manipulator also reaches its target position.Finally,the planar multi-link underactuated manipulator system with different structural parameters is selected for simulation experiments.The experimental results verify the effectiveness of the proposed control method.

关 键 词：非线性系统 平面欠驱动机械臂 幂零近似 模型降阶 开环迭代 稳定控制 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置] TP273[自动化与计算机技术—控制科学与工程]