摘要
针对具有摩擦和负载等不确定性的液压机械臂轨迹跟踪控制问题,建立机械臂机械系统、液压系统的数学模型,基于李亚普洛夫函数,提出一种模糊补偿策略进行控制,构造模糊系统逼近摩擦力和负载,应用流量补偿器消除负载压力变化对伺服阀性能的影响,应用重力补偿器消除负载质量变化时对系统性能的影响.仿真结果表明,设计的控制器可以使机械臂关节较好追踪期望轨迹,优于传统模糊控制和PD(proportional-differential)控制,最后模拟了3种负载工况,分析了控制器的补偿极限,为后续研究奠定了基础.
To address the trajectory-tracking control problem of the hydraulic manipulator with uncertainties such as friction and load, we establish a mathematical model of the mechanical and hydraulic systems of the manipulator. Based on the Lyapunov function, we propose a fuzzy compensation strategy to achieve control, and construct a fuzzy system to approximate the friction and load. For force and load, we use a flow compensator to eliminate the influence of load pressure changes on the performance of the servo valve, and a gravity compensator is used to eliminate changes in system performance with changes in load quality. The simulation results show that, compared to the traditional fuzzy control and proportional-derivative control, the designed controller improves the ability of the manipulator joints to track the desired trajectory. The results of three simulations of load conditions and an analysis of the compensation limit of the controller lay a solid foundation for subsequent research.
作者
沙毅刚
王强
何晓晖
朱晓基
杨菲
杜毛强
SHA Yigang;WANG Qiang;HE Xiaohui;ZHU Xiaoji;YANG Fei;DU Maoqiang(Mechatronics Research Center,College of Field Engineering,PLA Army Engineering University,Nanjing 210007,China)
出处
《信息与控制》
CSCD
北大核心
2021年第2期184-194,共11页
Information and Control
关键词
液压机械臂
动力学建模
模糊补偿控制
轨迹跟踪
李亚普洛夫稳定性
hydraulic mechanical arm
dynamic modeling
fuzzy compensation control
trajectory tracking
Lyapulov stability
