自适应控制在液压驱动式机器人的应用研究  

Research on the Application of Adaptive Control in Hydraulic Driven Robot

作　　者：许利君 张晶晶 XU Lijun;ZHANG Jingjing(School of Engineering,Zhengzhou Technology and Business University,Zhengzhou Henan 451400,China)

机构地区：[1]郑州工商学院工学院,河南郑州451400

出　　处：《机床与液压》2025年第3期66-73,共8页Machine Tool & Hydraulics

基　　金：2023年河南省产学合作协同育人项目(23A250026)。

摘　　要：针对液压驱动式机器人控制系统存在未建模动态或随机干扰时,自适应控制的稳定性难以实现的问题,设计一种将多项式非线性扩展状态观测器(PNLESO)和自适应反馈线性化控制(AFLC)相结合的液压驱动单元自适应控制方法(PNLESO-AFLC)。为改善观测器的抖振现象,构建基于多项式·12连续平滑误差函数的PNLESO。通过AFLC补偿PNLESO的观测误差,提高液压驱动单元对参数变化及不同工况下的适应能力。最后,通过对比实验验证了PNLESO-AFLC控制方法的性能。结果表明:与其他两种控制方法相比,PNLESO-AFLC具有更好的控制精度和对不同工况的适应性,能够显著提高液压驱动单元的阻抗控制性能。Aiming at the problem that the stability of adaptive control is difficult to achieve when the hydraulic driven robot control system has unmodeled dynamic or random disturbance,an adaptive control method for hydraulic drive unit(PNLESO-AFLC)combing polynomial nonlinear extended state observer(PNLESO)and adaptive feedback linearization control(AFLC)was designed.To improve the chattering of the observer,a PNLESO based on polynomial continuous smoothing error function was constructed.The observation error of PNLESO was compensated by AFLC,and the adaptability of the hydraulic drive unit to parameter changes and different working conditions was improved.Finally,the control performance of PNLESO-AFLC was verified by comparative experiments.The results show that compared with the other two control methods,the PNLESO-AFLC has better control accuracy and adaptability to different working conditions,and can significantly improve the impedance control performance of the hydraulic drive unit.

关 键 词：液压驱动机器人 自适应控制 状态观测器 阻抗控制 

分 类 号：TP242.2[自动化与计算机技术—检测技术与自动化装置]