摘要
液压机械臂能够提供较大的推力或转矩实现大负载物品的搬运。但是相比于电机驱动,液压驱动系统结构更加复杂、响应速度慢,且液压系统存在伺服阀流量与压力及摩擦力变化的非线性的特点。但目前工程中采用最多的控制方法仍是PID线性控制,在系统非线性、负载扰动过大的情况下,PID的控制效果非常不理想。基于此,以抓管机械臂为研究对象,考虑液压、摩擦非线性及负载扰动,以拉格朗日法对其进行动力学建模,描述整个系统的动态响应。分别设计了模糊PID控制器和基于反步法的模糊滑模控制器;通过仿真验证,基于反步法的模糊滑模控制器能够有效适应系统的非线性及负载大幅扰动,将机械臂位置误差控制在1%之内;并用饱和积分函数及模糊思想改善了滑模控制易出现的抖震问题。
The hydraulic manipulators provide high thrust/torque,making it suitable for handling heavy-payload objects.However,compared with electric drives,the hydraulic systems equip with more complex structures and respond more slowly.The hydraulic systems exhibit nonlinear characteristics,such as flow/pressure variations in servo valves and friction.Nevertheless,PID control remains the most widely used method in engineering practice.But PID performances negatively under system nonlinearities and heavy load disturbances,this study focused on the pipe-gripping manipulator and took the hydraulic nonlinearities,friction,and load disturbances into consideration.A dynamic model using the Lagrange method to describe the system response and designed two nonlinear controllers is established.A fuzzy PID controller and a fuzzy sliding-mode controller based on backstepping are designed.The simulation results showed that the latter could effectively handle system nonlinearities and heavy-load disturbances,limiting the manipulator's position error to within 1%.Additionally,the thesis adopts a saturation integral function and fuzzy sliding-mode control to mitigate the chattering problem common in sliding-mode control.
作者
孟繁宇
王腾
宋涛
郭文孝
杨喜
赵海伟
MENG Fanyu;WANG Teng;SONG Tao;GUO Wenxiao;YANG Xi;ZHAO Haiwei(China Coal Research Institute,Beijing 100013;CCTEG Taiyuan Research Institute Co.,Ltd.,Taiyuan,Shanxi 030006;Shanxi Tiandi Coal Mining Machinery Co.,Ltd.,Taiyuan,Shanxi 030006;China National Engineering Laboratory for Coal Mining Machinery,Taiyuan,Shanxi 030006)
出处
《液压与气动》
北大核心
2025年第8期123-132,共10页
Chinese Hydraulics & Pneumatics
基金
中央引导地方科技发展资金项目(YDZJSX2024D079)
天地科技股份有限公司科技创新创业资金专项项目(2023-TD-ZD013-001)。
关键词
抓管机
大负载
系统仿真
模糊PID
模糊滑模控制
pipe-gripping manipulator
heavy-load
system simulation
fuzzy PID
fuzzy sliding-mode control
