摘要
针对具有外界干扰及模型系统自身参数不确定性、不完全性的机械臂控制问题,挑选拉格朗日法营造柔性机械臂动力学仿真结构后,采用欧拉-伯努利梁理论,结合假设模态法进行机械臂运动描述。在非线性干扰观测器下,选取适当非线性增益函数对未知干扰进行准确估计,实现对高阶滑模控制器的有效补偿,以此降低外部干扰及系统的建模误差提高控制驱动的准确性。通过Lyapunov方法验证闭环系统稳定性、数值仿真验证设计方法有效性,结果表明,采用非线性干扰观测器同时运用高阶滑膜控制,有效削弱系统抖振。
Aim at the problem of robotic arm control with external interference and uncertainty and incompleteness of the model system's own parameters,Use the Lagrangian method to create a flexible robotic arm dynamics simulation structure,use Euler-Bernoulli beam theory to combine assumptions.The modal method use to describe the motion of the robot arm.Under the nonlinear disturbance observer,an appropriate nonlinear gain function is selected to accurately estimate the unknown disturbance,and the effective compensation for the high-order slide mode controller is realized,thereby reduce the external disturbance and the modeling error of the system and improving the accuracy of the control drive.The stability of the closed-loop system is verified by the Lyapunov method,and the effectiveness of the design method is verified by numerical simulation.The results show that the use of a nonlinear observer and high-order sliding film control at the same time effectively reduce the system chattering.simulation.It lays the foundation for the research of the subsequent flexible manipulator.
作者
周晟
李解
高琳
史欣怡
ZHOU Sheng;LI Jie;GAO Lin;SHI Xin-yi(The Grass-roots Logistics Management Department,Non-commissioned Officer Academy of PAPF, Hangzhou 310000, China)
出处
《组合机床与自动化加工技术》
北大核心
2021年第2期82-85,共4页
Modular Machine Tool & Automatic Manufacturing Technique
关键词
柔性机械臂
干扰观测器
滑模控制
数值仿真
flexible manipulator
disturbance observer
sliding mode control
numerical simulation
