摘要
液压系统的扰动力、参数变化和摩擦力等因素都会影响串联机械臂的控制精度.为加强对串联机械臂关节的控制,提出基于状态反馈的高精度控制技术,通过Jacobian(雅可比行列式)矩阵伪逆法构建串联液压机械臂的动力学模型,获取机械臂的状态向量.基于状态反馈设计自适应模糊滑膜控制器,采用重力补偿算法对串联液压机械臂的控制结果进行补偿,从而提高控制精度.实验结果表明,本文方法控制串联液压机械臂时,可在5 ms内控制串联液压机械臂保持平稳,不存在振动现象,并且定位运动误差较小,控制精度高,表明运用此控制技术下的机械臂关节跟踪和控制的精度高、振动抑制能力更强.
The disturbance force,parameter change and friction force of the hydraulic system will all affect the control accuracy of the serial manipulator.In order to strengthen the control of the joints of serial manipulators,a high-precision control technology based on state feedback is proposed.The dynamic model of serial hydraulic manipulator is built by Jacobian matrix pseudo-inverse method,and the state vector of manipulator is obtained.Based on the state feedback,an adaptive fuzzy synovial controller is designed,and gravity compensation algorithm is used to compensate the control results of serial hydraulic manipulators,so as to improve the control accuracy.The experimental results show that when the method in this paper controls the tandem hydraulic manipulator,the tandem hydraulic manipulator can be controlled to remain stable within 5ms,there is no vibration phenomenon,and the positioning motion error is small and the control accuracy is high.The robot arm joint tracking and control under this control technology has high precision and stronger vibration suppression ability.
作者
徐善军
胡益菲
张志朋
杜婧
汤潇
张黎明
XU Shanjun;HU Yifei;ZHANG Zhipeng;DU Jing;TANG Xiao;ZHANG Liming(State Grid Electric Power Research Institute,Nanjing 211106,China;Beijing Guodian Futong Technology Development Co.,Ltd.,Beijing 100070,China;State Grid Tianjin Electric Power Company,Tianjin 300010,China)
出处
《湘潭大学学报（自然科学版）》
CAS
2022年第5期120-126,共7页
Journal of Xiangtan University(Natural Science Edition)
基金
国家电网有限公司科技项目(SGTJBHOOYJJS1902138)。
