摘要
针对由喷砂除锈并联机构末端喷枪射流反作用力造成的非匹配干扰问题,提出一种喷砂除锈并联机构非线性自抗扰控制方法。采用解析法对并联机构进行运动学分析,采用拉格朗日法建立考虑非匹配干扰的并联机构动力学模型;通过应用等效输入干扰技术将系统的非匹配干扰转换为位于控制输入通道的匹配干扰,并与建模误差、关节摩擦力及外部干扰等集总为系统总干扰;设计非线性扩张状态观测器对系统集总干扰进行实时精确估计和补偿,进一步设计基于扩张状态观测器的自抗扰控制,以增强系统对集总干扰的鲁棒性,同时提高其轨迹跟踪控制性能。最后证明闭环系统的稳定性,并基于MATLAB软件和具射流反作用力喷砂除锈并联机构样机,对所提出控制方法进行仿真和样机实验,实验结果验证了所提出方法的有效性。
Aiming at the mismatched disturbance problem caused by the jet reaction force at the end of the rust removal sandblasting parallel mechanism,a nonlinear Active disturbance rejection control method of the rust removal sandblasting parallel mechanism was proposed.Firstly,the kinematics of the parallel mechanism was analyzed by the analytical method,and the dynamic model of the parallel mechanism considering the mismatched disturbance was established by the Lagrange method.By applying equivalent input disturbance technique,the mismatched disturbance of the system was converted to the matched disturbance located in the control input channel,and the total disturbances of the system was aggregated with modeling error,joint friction force and external disturbance.The nonlinear extended state observer was designed to estimate and compensate the lumped disturbance accurately in real time.The active disturbance rejection control based on the extended state observer was further designed to enhance the robustness of the system to lumped disturbance and improve its trajectory tracking control performance.Finally,the stability of the closed-loop system was proved,and based on MATLAB software and the prototype of the parallel mechanism with jet reaction force for rust removal sandblasting,the proposed control method was simulated and tested.The experimental results verify the effectiveness of the proposed method.
作者
杨金城
高国琴
YANG Jin-cheng;GAO Guo-qin(School of Electrical and Information Engineering,Jiangsu University,Zhenjiang 212013,China)
出处
《科学技术与工程》
北大核心
2024年第26期11332-11340,共9页
Science Technology and Engineering
基金
国家自然科学基金(51375210)
镇江市重点研发计划(GZ2018004)
江苏高校优势学科建设工程(四期)。
关键词
喷砂除锈并联机构
射流反作用力
非匹配干扰
等效输入干扰技术
非线性自抗扰控制
rust removal sandblasting parallel mechanism
jet reaction force
mismatched disturbance
equivalent input disturbance technique
nonlinear active disturbance rejection control
