摘要
为提高机器人轨迹跟踪的精度与抗扰动能力,本文以永磁同步电机机(permanent magnet synchronous motor,PMSM)驱动的二自由度刚性关节机器人为研究对象,提出规定性能的反步自抗扰位置控制。该方法结合反步法与自抗扰技术,通过扩展状态观测器(extend states observers,ESO)补偿不确定的动态和扰动,利用跟踪微分器(track differentiator,TD)代替虚拟控制信号的导数,消除非线性函数的重复微分引起的"计算爆炸",设计规定性能函数提高位置跟踪的速度和精度,并结合电机矢量控制策略,设计反步电流控制器。通过输入状态稳定定理进行稳定性分析,证明系统状态能渐进收敛到原点的任意小邻域内。仿真结果表明,相比于无规定性能控制,本文提出的规定性能反步自抗扰控制,控制精度更高,收敛速度更快,有良好的动态和稳态性能。该控制方法具有较高的位置跟踪精度和较强的抗干扰能力。
In order to improve the tracking accuracy and anti-disturbance ability of the robot,this paper takes the two degree of freedom rigid joint robot driven by permanent magnet synchronous motor(PMSM)as the research object,and puts forward the backstepping active disturbance rejection position control with prescribed performance.This method,combined backstepping with active disturbance rejection technology,compensates uncertain dynamic and disturbance by extended states observers(ESO)and uses track differentiator(TD)instead of derivative of virtual control signal,eliminates"calculation explosion"caused by repeated differentiation of nonlinear function.Prescribed performance function is designed to improve speed and accuracy of position tracking.And the backstepping current controller is designed based on the motor vector control strategy.Through the input-to-state stability theory,it is proved that the tracking error can be gradually converged into arbitrarily small neighborhood of the origin.The simulation results show that the backstepping active disturbance rejection control proposed in this paper,compared with unprescribed performance control,has higher control accuracy,faster convergence speed,better dynamic and steady-state performance.This control method has high position tracking accuracy and strong anti-interference ability.
作者
薛晔
于海生
吴贺荣
XUE Ye;YU Haisheng;WU Herong(School of Automation,Qingdao University,Qingdao 266071,China)
出处
《青岛大学学报（工程技术版）》
CAS
2020年第2期75-82,共8页
Journal of Qingdao University(Engineering & Technology Edition)
基金
国家自然科学基金资助项目(61573203)。
