摘要
并联式临时支护机器人是智能掘进机器人系统中实现“掘支并行”作业的重要组成部分,能够为掘进工作面人员和设备提供安全可靠的作业空间。在进行巷道支护任务时,井下作业环境复杂,存在外部扰动以及机器人动力学参数不确定等因素,使得临时支护机器人末端位姿的精准控制面临巨大挑战。同时,临时支护机器人通过末端支护平台与巷道顶板接触,两者之间存在强烈的动态交互效应,势必会对临时支护机器人末端接触力的高精度控制带来重要影响。针对上述问题,提出了一种结合自适应模糊滑模控制和模糊阻抗控制的双闭环控制策略,以保证临时支护机器人末端位姿和接触力的精准控制。首先,建立临时支护机器人的动力学模型,以及机器人末端支护平台与巷道环境的接触模型。其次,为了补偿模型中的不确定项,采用模糊系统对滑模控制器中的切换函数进行逼近,并设计自适应策略消除逼近误差,实现临时支护机器人末端支护平台的高精度位姿控制。为了确保力控制参数的精确性,设计了以力误差和误差率为输入的模糊阻抗控制器,实时调节阻抗参数,减少接触过程中产生的振荡,避免因力过度加载造成的顶板变形破坏。最后,对所设计的控制系统进行仿真分析,结果表明,在所提控制方法下,临时支护机器人的位置跟踪误差小于1×10-3 m,姿态跟踪误差小于3×10-3 rad,接触力的跟踪效果更为稳定且快速,有利于实现临时支护机器人与环境接触的柔顺支护控制,确保掘进巷道顶板的安全稳定。
The parallel temporary support robot is an important component of the intelligent excavation robot system for achieving the synchronous operations of the excavation and support for the roadway,which can provide safe and reliable working space for excavation workers and equipment.In the context of roadway support tasks,the underground working environment is complex,and there are external disturbances and uncertain dynamic parameters of the robot,which pose great challenges to the precise control of the end-effector’s pose of the proposed temporary support robots.At the same time,the temporary support robots interface with the roadway roof through the support platform,and there must be a strong dynamic interaction effect,which will inevitably have an important impact on the high-precision control of the end-effector’s contact force of the temporary support robot.To address these challenges,a dual closed-loop control strategy combining adaptive fuzzy sliding mode control and fuzzy impedance control was proposed,and the proposed control strategy ensures the control accuracy of the pose and contact force of the end-effector of temporary support robots.Firstly,the dynamic model of the proposed temporary support robot and the contact model between the robot’s support platform and the roadway environment were established.Secondly,in order to compensate for the model uncertainties,a fuzzy system was employed to approximate the switching function in the sliding mode controller,and an adaptive strategy was designed to eliminate approximation errors,thereby achieving high-precision control of the end-effector’s poses of temporary support robots.To ensure the accuracy of force control parameters,a fuzzy impedance controller,taking force error and error rate as inputs,was designed to dynamically adjust impedance parameters,reduce generated oscillation during contact,and avoid deformation and damage of the roadway’s roof caused by excessive force loading.Finally,simulation analysis was conducted on the proposed controller,and the results showed that the proposed control method results in the position tracking error below 1×10-3 m,the attitude tracking error below 3×10-3 rad,and a more stable and fast tracking effect of contact force.This approach is conducive to achieving flexible support control between temporary support robots and their environment,ensuring the safety and stability of the roadway.
作者
刘鹏
王林鹏
马宏伟
段学超
曹现刚
张旭辉
夏晶
朱延
LIU Peng;WANG Linpeng;MA Hongwei;DUAN Xuechao;CAO Xiangang;ZHANG Xuhui;XIA Jing;ZHU Yan(Shaanxi Key Laboratory of Mine Electromechanical Equipment Intelligent Monitoring,Xi’an University of Science and Technology,Xi’an 710054,China;Key Laboratory of Electronic Equipment Structure Design Ministry of Education,Xidian University,Xi’an 710000,China)
出处
《振动与冲击》
北大核心
2025年第24期320-332,共13页
Journal of Vibration and Shock
基金
陕西省教育厅服务地方专项项目(23JC053)
陕西省自然科学基础研究计划面上项目(2024JC-YBMS-324)。
关键词
并联机器人
临时支护
滑模控制
阻抗控制
模糊系统
parallel robot
temporary support
sliding mode control
impedance control
fuzzy system
