聚变堆大型机械臂鲁棒自适应精度控制  

Robust adaptive accuracy control of large manipulator for fusion reactor

作　　者：左从菊 秦国栋 潘洪涛[1] 程勇 周浦城 秦晓燕 汪卫华 ZUO Cong-ju;QIN Guo-dong;PAN Hong-tao;CHENG Yong;ZHOU Pu-cheng;QIN Xiao-yan;WANG Wei-hua(Institute of Plasma Physics,Chinese Academy of Science,Hefei 230031,China;University of Science and Technology of China,Hefei 230026,China;Department of Information Engineering,Army Academy of Artillery and Air Defense,Hefei 230031,China)

机构地区：[1]中国科学院合肥物质科学研究院等离子体物理研究所,合肥230031 [2]中国科学技术大学科学岛分院,合肥230026 [3]陆军炮兵和防空兵学院信息工程系,合肥230031

出　　处：《吉林大学学报(工学版)》2025年第1期52-62,共11页Journal of Jilin University:Engineering and Technology Edition

基　　金：国家自然科学基金项目(12305251);国家重大科技基础设施建设项目(2018-000052-73-01-001228)。

摘　　要：为了解聚变堆遥操作系统中的大型机械臂精确控制问题,提出了聚变堆大型机械臂鲁棒自适应精度控制研究。该研究基于Hamilton Jacobi方程设计一种鲁棒自适应滑模控制策略,抑制不确定性和时变参数对系统的影响,并通过Lyapunov理论证明控制器的稳定性。为解决刚柔耦合等非几何参数对大型机械臂造成的位置误差,提出了一种基于动态控制器的可变参数精度控制算法,融合工作空间网格化变参数原理进行参数辨识,可实现机械臂非几何参数误差补偿。实验结果表明,本文方法有效提高机械臂动态控制精度,抑制非几何参数影响。In order to solve the problem of precise control of large robotic arms in the remote operation system of fusion reactors,a study on robust adaptive precision control of large robotic arms in fusion reactors is proposed.This study designs a robust adaptive sliding mode control strategy based on the Hamilton Jacobi equation to suppress the influence of uncertainty and time-varying parameters on the system,and proves the stability of the controller through Lyapunov theory.To solve the position error caused by non geometric parameters such as rigid flexible coupling on large robotic arms,a variable parameter accuracy control algorithm based on dynamic controllers is proposed,which integrates the principle of workspace grid based variable parameters for parameter identification and can achieve non geometric parameter error compensation of robotic arms.The experimental results show that this method effectively improves the dynamic control accuracy of the robotic arm and suppresses the influence of non geometric parameters.

关 键 词：聚变堆 大型机械臂 鲁棒自适应 变参数补偿 精度控制 

分 类 号：TP241.3[自动化与计算机技术—检测技术与自动化装置]