基于期望关节角补偿的车载液压刚柔机械臂建模及轨迹跟踪控制

doi:10.7964/jdxbgxb201305035

吉林大学学报(工学版) ›› 2013, Vol. 43 ›› Issue (05): 1367-1374.doi: 10.7964/jdxbgxb201305035

基于期望关节角补偿的车载液压刚柔机械臂建模及轨迹跟踪控制

徐勇军¹, 李元春^1,2, 赵晓晖¹

1. 吉林大学通信工程学院, 长春 130012;
2. 长春工业大学控制工程系, 长春 130012

收稿日期:2012-08-22 出版日期:2013-09-01 发布日期:2013-09-01
通讯作者: 李元春(1962- ),男,教授,博士生导师.研究方向:智能机械与机器人控制.E-mail:liyc@mail.ccut.edu.cn E-mail:liyc@mail.ccut.edu.cn
作者简介:徐勇军(1986- ),男,博士研究生.研究方向:智能机器人与自适应控制.E-mail:xuyj10@mails.jlu.edu.cn
基金资助:
国家自然科学基金项目(60974010,60674091);吉林省科技发展计划项目(20100502,20110705).

Modeling and trajectory tracking control of vehicle hydraulic rigid-flexible manipulator based on the expected joint angle compensation

XU Yong-jun¹, LI Yuan-chun^1,2, ZHAO Xiao-hui¹

1. College of Communication Engineering, Jilin University, Changchun 130012, China;
2. Department of Control Engineering, Changchun University of Technology, Changchun 130012, China

Received:2012-08-22 Online:2013-09-01 Published:2013-09-01

摘要/Abstract

摘要：

采用拉格朗日原理和假设模态法,通过引入驱动Jacobian矩阵,推导出液压刚柔机械臂动力学方程。针对柔性臂的特点,提出了关节角补偿方法。为了克服参数扰动和外界干扰,利用自适应律估计不确定性项提出了同时控制刚体运动和振动抑制的自适应滑模控制方法。最后,通过数值仿真验证了所提方法的有效性。

关键词: 自动控制技术, 液压刚柔机械臂, 假设模态法, 自适应滑模控制, 准静态补偿

Abstract:

First, by introducing a driven Jacobi matrix, the dynamic equations of the hydraulic rigid-flexible manipulator were derived using Lagrange principle and the assumed mode method. Then, a joint angel compensation algorithm was proposed by considering the characteristics of flexible arm. In order to weaken the effect of parameter perturbation and external interference, an adaptive sliding model controller was developed to simultaneously control the rigid motion and suppress vibration with uncertainties estimated by the adaptive law. Simulation results were presented to demonstrate the effectiveness of the proposed approach.

Key words: automatic control technology, hydraulic rigid-flexible manipulator, assumed mode method, adaptive sliding mode control, quasi-static compensation

中图分类号:

TP273

徐勇军, 李元春, 赵晓晖. 基于期望关节角补偿的车载液压刚柔机械臂建模及轨迹跟踪控制[J]. 吉林大学学报(工学版), 2013, 43(05): 1367-1374.

XU Yong-jun, LI Yuan-chun, ZHAO Xiao-hui. Modeling and trajectory tracking control of vehicle hydraulic rigid-flexible manipulator based on the expected joint angle compensation[J]. 吉林大学学报(工学版), 2013, 43(05): 1367-1374.

参考文献

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[8] Xu Yong-jun, Qiao Yan-feng, Wang Zhi-qian, et al. Modeling and variable structure control of a vehicle flexible manipulator[C]//Proceedings of the 10th World Congress on Intelligent Control and Automation, Beijing, 2012.

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基于期望关节角补偿的车载液压刚柔机械臂建模及轨迹跟踪控制

Modeling and trajectory tracking control of vehicle hydraulic rigid-flexible manipulator based on the expected joint angle compensation

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