基于分数阶滑模自抗扰控制的六自由度串联机械臂研究  

Research on Six-Degree-of-Freedom Series Manipulator Based on Fractional Order Sliding Mode Active Disturbance Rejection Control

作　　者：章东旭 李伟[2] 孔科研 齐晶晶 刘丙友 Zhang Dongxu;Li Wei;Kong Keyan;Qi Jingjing;Liu Bingyou(School of Electrical Engineering,Anhui University of Technology,Wuhu 241000,China;Huaneng Chaohu power generation Co.,Ltd.,Chaohu 238000,China;Anhui Tianbing Electronic Technology Co.,Ltd.,Wuhu 241000,China;Anhui Dar intelligent control system Co.,Ltd.,Wuhu 241000,China)

机构地区：[1]安徽工程大学电气工程学院,芜湖241000 [2]华能巢湖发电有限责任公司,巢湖238000 [3]安徽天兵电子科技股份有限公司,芜湖241000 [4]安徽达尔智能控制系统股份有限公司,芜湖241000

出　　处：《动力学与控制学报》2025年第1期49-58,共10页Journal of Dynamics and Control

基　　金：芜湖市核心技术攻克项目(2022hg11,2023yf012)。

摘　　要：多自由度机械臂是一种应用很广泛的机械装置,如何提升机械臂系统的响应速度、跟踪性能和抗干扰能力,一直是研究的热点.因此本文在经典自抗扰技术的基础上,首先,完成对六自由度串联机械臂模型建立和控制方法选择;其次,结合滑模控制和分数阶微积分对滑模跟踪微分器和非线性误差反馈律进行改进,以提高系统的响应速度和跟踪性能,并通过设计新型非线性函数构建扩张状态观测器,削弱传统扩展状态观测器在应用中的高频颤振现象,提高系统的抗干扰能力;最后,在建立的六自由度串联机械臂关节模型基础上,对所提出的控制策略进行仿真实验.结果表明,分数阶滑模自抗扰控制器相比传统自抗扰控制器,系统的响应速度提高28.6%、抗干扰能力提高27.8%.验证本文所提出的控制策略能够有效改善系统响应速度和跟踪性能,具有较强的抗干扰能力.The multi-degree-of-freedom robot arm is a kind of widely used mechanical device.How to improve the response speed,tracking performance and anti-interference ability of the robot arm system has been the focus of research.Therefore,this paper is based on the classical active disturbance rejection technology.Firstly,the model establishment and control method selection of the 6-DOF series manipulator are completed.Secondly,the sliding mode tracking differentiator and nonlinear error feedback law are improved by combining sliding mode control and fractional calculus to improve the response speed and tracking performance of the system.A new type of nonlinear function is designed to construct an extended state observer,which reduces the high frequency flutter of the traditional extended state observer in application and improves the anti-interference ability of the system.Finally,on the basis of the established six-degree-of-freedom series manipulator joint model,the proposed control strategy is simulated.The results show that the response speed and anti-interference ability of the FRactional-order sliding mode active disturbance rejection controller are increased by 28.6%and 27.8%compared with the traditional active disturbance rejection control.It is verified that the proposed control strategy can effectively improve the response speed and tracking performance of the system,and has strong anti-interference ability.

关 键 词：自抗扰控制 滑模控制 分数阶微积分 多自由度机械臂 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置] TP17[自动化与计算机技术—控制科学与工程]