摘要
为了提高柔性机械臂控制精度、抑制柔性机械臂末端振动,提出了区分快慢变子系统的组合控制方法。使用拉格朗日方程和假设模态法建立了柔性机械臂动力学方程,利用奇异摄动原理将柔性机械臂系统分解为快变子系统和慢变子系统;鉴于慢变子系统的强非线性和参数不确定性,将反演控制和滑膜变结构相结合,提出了基于反演滑模变结构控制方法的慢变子系统控制;鉴于快变子系统模型不准确问题,而模糊控制对模型精度没有要求,因此设计了快变子系统模糊控制器。经仿真验证可以看出,与传统PID控制相比,机械臂转角最大误差由4.1°下降为0.04°,稳定时间由10s下降为2.5s,末端振动最大值由0.081m下降为0.021m,极大地提高了柔性机械臂控制精度。
To improve control accuracy of flexible manipulator and restrain its vibration of the end,composite control method by distinguish fast and slow subsystems is put forward.Lagrange equation and assumption mode method are used to establish dynamic equation.Singular perturbation strategy is used to distinguish fast and slow subsystem.Considering strong-nonlinearity and parameter uncertainty of slow subsystem,combining backstepping control and sliding mode variable structure,so that slow subsystem control based on Inversion sliding mode variable structure is proposed.Considering mode inaccuracy of fast subsystem,and fuzzy control has no requirements on model accuracy,so that fuzzy controller of fast subsystem is designed.clarified by simulation,comparing with traditional PID control,maximum rotating angular error decreases to 0.04 degree from 4.1 degree,setting time decreases to 2.5 s from 10 s,elastic vibration maximum of end position decreases 0.021 m from 0.081 m,which means control accuracy of flexible manipulator is improved greatly.
作者
孙绍林
SUN Shao-lin(School of Continuing Education,Guizhou University,Guizhou Guiyang550025,China)
出处
《机械设计与制造》
北大核心
2021年第1期175-178,184,共5页
Machinery Design & Manufacture
基金
黔科合重大专项([2014]6015-6)。
关键词
柔性机械臂
奇异摄动法
快慢变子系统
反演滑模变结构控制
模糊控制
Flexible Manipulator
Singular Perturbation Method
Fast and Slow Subsystems
Inversion Sliding Mode Variable Structure Control
Fuzzy Control
