摘要
针对现有矿井自动装卸钻杆机械臂运动轨迹跟踪方法精度低而导致施工效率低下的问题,综合应用模糊滑模控制与反步控制理论,提出模糊滑模反步控制钻杆机械臂轨迹跟踪法。采用扰动观测器对扰动信号进行估算,采用模糊理论描述滑模面与运动点的广义距离,以降低滑模控制中由速度瞬变所引起的抖振,并采用模糊滑模反步控制法对由系统扰动造成的误差进行补偿。针对钻杆机械臂的两个重要关节进行了运动仿真与试验测试。结果表明:两个关节的轨迹跟踪误差比模糊滑模控制分别减小了28.2%和22.6%。模糊滑模反步控制法有效降低了钻杆机械臂关节运动轨迹误差,极大提高了运动稳定性和响应能力。
In order to solve the problem of low construction efficiency caused by the poor accuracy of the tracking method of the automatic drill rod handling manipulator,a trajectory tracking method of drillrod manipulator controlled by fuzzy sliding mode and back-stepping control is proposed by integrating the theory of fuzzy sliding mode control and back-stepping control.Disturbance observer is utilized to estimate the disturbance signal,and fuzzy theory is utilized to describe the generalized distance between the sliding mode surface and the moving point so as to reduce the chattering caused by the velocity transient in the sliding mode control,and fuzzy sliding mode back-stepping control method is utilized to compensate the errors caused by the system disturbance.The simulation and experimental tests of two important joints of drillrod manipulator are carried out.The results show that:Compared with the fuzzy sliding mode control,the trajectory tracking errors of the two joints are respectively reduced by 28.2%and 22.6%.Therefore,the fuzzy sliding mode back-stepping control method can effectively reduce the joint trajectory errors of drillrod manipulator,and greatly improve the motion stability and response ability.
作者
李东民
王通
杜浩
赵柳杨
栾亨宣
步宇
钟佩思
Li Dongmin;Wang Tong;Du Hao;Zhao Liuyang;Luan Hengxuan;Bu Yu;Zhong Peisi(College of Intelligent Equipment,Shandong University of Science and Technology,Taian 271000,China;College of Mechanical and Electronic Engineering,Shandong University of Science and Technology,Qingdao 266590,China)
出处
《南京理工大学学报》
CAS
CSCD
北大核心
2023年第5期619-628,共10页
Journal of Nanjing University of Science and Technology
基金
国家自然科学基金(51705295)
山东省重点研发计划项目(2019GGX104102)
山东省高等学校科研计划资助项目(J18KB020)。
关键词
钻机
自动装卸钻杆机械臂
模糊滑模反步控制法
扰动补偿
轨迹跟踪误差
drilling rig
automatic drill rod handling manipulator
fuzzy sliding mode back-stepping control
interference compensation
trajectory tracking error
