摘要
机械臂在航空航天、工业制造、医疗等方面应用广泛。柔性机械臂相比于刚性机械臂更为灵活,但是柔性机械臂在运动过程中更难控制、连杆弹性振动更大。针对柔性机械臂难控制、连杆弹性振动大等特点,以加拿大Quanser公司生产的旋转柔性尺为研究对象,设计一种超螺旋全局快速终端滑模控制算法,此算法融合超螺旋控制与终端滑模控制,并采用改进型饱和函数降低了滑模控制的抖振。首先根据拉格朗日方程结合假设模态法建立旋转柔性尺的动力学模型,之后设计一种全程快速跟踪微分器将系统地参考输入信号进行微分,并设计一种全局快速终端滑模控制器进行轨迹跟踪。为提高系统的轨迹跟踪精度和抑制柔性连杆产生的弹性振动,采用超扭曲算法设计滑模切换控制的控制律。最后利用李雅普诺夫理论证明了闭环系统的稳定性,并在Matlab软件平台进行了仿真实验。结果表明,超螺旋全局快速终端滑模控制具有跟踪精度更高、连杆弹性振动更小的特点。
Manipulators are widely applied in aerospace,industrial manufacturing,and medical fields.Compared to rigid manipulators,flexible manipulators offer greater flexibility.However,controlling flexible manipulators during motion is more challenging,and they exhibit larger elastic vibrations in their links.Addressing the difficulties of control and significant link vibrations inherent to flexible manipulators,this study focuses on Quanser’s rotary flexible link as the research object.A super-twisting global fast terminal sliding mode control algorithm was designed.This algorithm integrated super-twisting control with terminal sliding mode control,and employs an improved saturation function to mitigate chattering in the sliding mode control.Firstly,the dynamic model of the rotary flexible link was established using Lagrange's equations combined with the assumed mode method.Subsequently,a global fast tracking differentiator was designed to differentiate the system's reference input signal,and a global fast terminal sliding mode controller was developed for trajectory tracking.To enhance trajectory tracking accuracy and suppress elastic vibrations by the flexible link,the super-twisting algorithm was adopted to formulate the control law for the sliding mode switching control.Finally,the stability of the closed-loop system was proven using Lyapunov theory.Simulation experiments conducted on the Matlab platform demonstrate that the proposed super-twisting global fast terminal sliding mode control achieves higher tracking accuracy and induces smaller elastic vibrations in the link compared to other methods.
作者
韩光信
史玉松
HAN Guangxin;SHI Yusong(School of Information and Control Engineering,Jilin University of Chemical Technology,Jilin City 132022,China)
出处
《吉林化工学院学报》
2025年第7期36-45,共10页
Journal of Jilin Institute of Chemical Technology
关键词
柔性机械臂
全局快速终端滑模算法
超扭曲算法
快速跟踪微分器
flexible manipulators
global fast terminal sliding mode algorithm
super-twisting algorithm
fast tracking differentiator
