液压机械臂集中式驱控系统研究与应用

doi:10.13229/j.cnki.jdxbgxb.20230043

吉林大学学报(工学版) ›› 2024, Vol. 54 ›› Issue (11): 3358-3371.doi: 10.13229/j.cnki.jdxbgxb.20230043

• 通信与控制工程 • 上一篇

液压机械臂集中式驱控系统研究与应用

郑玉坤^1,²(),孙如月^1,²,李凤鸣³,刘义祥^1,²,李东广⁴,宋锐^1,²()

^1.山东大学控制科学与工程学院，济南 250061
^2.智能无人系统教育部工程研究中心，济南 250061
^3.山东建筑大学信息与电器工程学院，济南 250101
^4.中信重工开诚智能装备有限公司，河北唐山 063020

收稿日期:2023-01-14 出版日期:2024-11-01 发布日期:2025-04-24
通讯作者: 宋锐 E-mail:zhengyk163@163.com;rsong@sdu.edu.cn
作者简介:郑玉坤（1989-），男，博士研究生.研究方向：特种机器人控制系统. E-mail： zhengyk163@163.com
基金资助:
国家重点研发计划项目(2022YFC2604004);国家自然科学基金项目(U20A20201);河北省重点研发计划项目(20311803D)

Research and application of the centralized drive and control system for a hydraulic manipulator

Yu-kun ZHENG^1,²(),Ru-yue SUN^1,²,Feng-ming LI³,Yi-xiang LIU^1,²,Dong-guang LI⁴,Rui SONG^1,²()

^1.School of Control Science and Engineering，Shandong University，Jinan 250061，China
^2.Engineering Research Center of Intelligent Unmanned System，Ministry of Education，Jinan 250061，China
^3.School of Information and Electrical Engineering，Shandong Jianzhu University，Jinan 250101，China
^4.CITIC HIC KAICHENG Intelligence Equipment Co. ，Ltd. ，Tangshan 063020，China

Received:2023-01-14 Online:2024-11-01 Published:2025-04-24
Contact: Rui SONG E-mail:zhengyk163@163.com;rsong@sdu.edu.cn

摘要/Abstract

摘要：

针对大负载作业需求，设计了一种基于液压驱动的六自由度机械臂实时控制系统。采用单一工控机构建液压机械臂实时控制系统，即上层任务调度和底层电液伺服驱动通过单一控制器完成。设计了基于抛物线的改进梯形速度曲线优化策略；提出了融合Levenberg-marquardt （LM）与拟牛顿（Quasi-Newton methods）的逆运动学迭代求解方法；引入了具有抗积分饱和PI控制器，抑制积分饱和影响；通过仿真和物理样机完成了机械臂在笛卡尔空间中的连续轨迹跟踪性能测试和控制系统综合性能测试。实验结果表明：该控制系统稳定可靠，实时性强，满足工程控制要求。

关键词: 控制工程, 液压机械臂, 实时控制, 迭代, 电液伺服

Abstract:

A real-time control system for a six-degree-of-freedom robotic arm based on a hydraulic drive is designed to meet the needs of heavy-duty operations. A single IPC is used to construct the real-time control system architecture of the hydraulic robotic arm， i.e.， the upper-level task scheduling and the lower-level electro-hydraulic servo drive are completed by a single controller. An improved parabolic-based trapezoidal velocity profile optimization strategy is designed； an inverse kinematic iterative solution method incorporating levenberg-marquardt （LM） and Quasi-Newton methods is proposed； an anti-integration saturation PI controller is introduced to eliminate the effect of integration saturation. The continuous trajectory tracking performance of the robot arm in Cartesian space and the overall performance of the control system are tested by simulation and physical prototype. The experimental results show that the control system is stable and reliable， with strong real-time performance， and meets the engineering control requirements.

Key words: control engineering, hydraulic manipulator, real-time control, iteration, electro-hydraulic servo

中图分类号:

TP242.3

郑玉坤,孙如月,李凤鸣,刘义祥,李东广,宋锐. 液压机械臂集中式驱控系统研究与应用[J]. 吉林大学学报(工学版), 2024, 54(11): 3358-3371.

Yu-kun ZHENG,Ru-yue SUN,Feng-ming LI,Yi-xiang LIU,Dong-guang LI,Rui SONG. Research and application of the centralized drive and control system for a hydraulic manipulator[J]. Journal of Jilin University(Engineering and Technology Edition), 2024, 54(11): 3358-3371.

图/表 25

图1

图2

图3

表1

机械臂关节描述"

关节	描述	驱动形式	范围
1	腰部回转	旋转油缸	$[- 60 °, 60 °]$
2	大臂俯仰	直线油缸	$[0 °, - 180 °]$
3	小臂俯仰	直线油缸	$[- 35 °, 70 °]$
4	小臂旋转	旋转油缸	$[- 90 °, 90 °]$
5	腕部俯仰	直线油缸	$[- 50 °, 70 °]$
6	腕部旋转	旋转油缸	$[- 170 °, 170 °]$

表1

图4

图5

图6

图7

图8

图9

图10

表2

图11

图12

图13

图14

图15

图16

图17

表3

各关节PI控制参数"

关节	参数
1	$k p = 110; k i = 4500; k c = 10$
2	$k p = 52; k i = 3000; k c = 10$
3	$k p = 390; k i = 6000; k c = 10$
4	$k p = 500; k i = 600; k c = 10$
5	$k p = 380; k i = 5500; k c = 10$
6	$k p = 300; k i = 800; k c = 10$

表3

图18

图19

图20

图21

图22

参考文献 22

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液压机械臂集中式驱控系统研究与应用

Research and application of the centralized drive and control system for a hydraulic manipulator

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方法	迭代次数/次	迭代时间/ms
LM	29	3.30
BFGS	32	3.06
LM+BFGS	25	2.18