基于改进趋近律的带电作业机器人机械臂自适应滑模控制  

Adaptive Sliding Mode Control of ARobotic Arm of a Power-carrying Robot Based on an Improved Convergence Law

作　　者：花国祥 夏阳 符门科 许婧 Hua Guoxiang;Xia Yang;Fu Menke;Xu Jing(School of Automation,Wuxi University,Wuxi 214105,China;Safety Supervision and Quality Department,Wuxi Guangying Group Co.,Ltd.,Wuxi 214125,China)

机构地区：[1]无锡学院自动化学院,江苏无锡214105 [2]无锡广盈集团有限公司安全监察质量部,江苏无锡214125

出　　处：《兵工自动化》2025年第2期106-107,112,共3页Ordnance Industry Automation

基　　金：江苏省自然科学基金-青年基金项目(BK20230173);南方电网有限公司科技项目(031400KK52220012);无锡市“太湖之光”科技攻关项目(K20231019)。

摘　　要：为提高带电作业机器人机械臂的轨迹跟踪精度,提出一种改进趋近律的机械臂自适应滑模控制方法。通过建立2自由度机械臂动力学模型,利用观测器估计外界干扰并加以补偿,对未观测到的干扰通过设计自适应率来估计补偿。根据传统滑模存在的高频抖振问题,引入非线性函数来改进趋近律,减小抖振的影响。样机验证结果表明:该控制策略可以有效提高带电作业机器人的作业精度和响应速度,从而提升带电作业的稳定性。In order to improve the trajectory tracking accuracy of the manipulator of a hot-line working robot,an adaptive sliding mode control method based on an improved reaching law is proposed.The dynamic model of 2-Dof manipulator is established,and the observer is used to estimate and compensate the external disturbance,and the adaptive law is designed to estimate and compensate the unobserved disturbance.According to the high frequency buffeting problem of traditional sliding mode,the nonlinear function is introduced to improve the reaching law and reduce the influence of buffeting.The prototype verification results show that the control strategy can effectively improve the working accuracy and response speed of the hot-line working robot,thereby enhancing the stability of hot-line working.

关 键 词：带电作业机器人 机械臂 滑模控制 干扰观测器 

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]