摘要
针对存在执行机构死区的动车组检修机械臂在参数摄动和干扰力矩下的轨迹跟踪控制问题展开了研究。首先,构造了一个有限时间干扰观测器以估计系统未知的集总扰动;其次,为保证全局强鲁棒性和误差快速收敛,提出了一种非奇异快速终端滑模面,并通过引入自适应准连续二阶滑模控制算法来抑制控制力矩抖振;然后,基于李雅普诺夫稳定性理论,严格证明了滑模面的有限时间可达性和跟踪误差的快速指数收敛性;最后,以两连杆检修机械臂为实例,通过与其他控制策略的比较,充分证明了所提控制算法的优越性。
The trajectory tracking control problem for the EMU maintenance robotic arm subject to actuator dead zones,parameter perturbations,and external disturbance torques is studied.First,a finite-time disturbance observer is designed to estimate the system’s unknown lumped disturbances.Second,to ensure global strong robustness and fast error convergence,a nonsingular fast terminal sliding mode surface is proposed,and an adaptive quasi-continuous second-order sliding mode control algorithm is introduced to mitigate chattering in the control torque.Then,based on Lyapunov stability theory,the finite-time reachability of the sliding surface and the fast exponential convergence of the tracking error are rigorously proven.Finally,a case study of a two-link maintenance robotic arm is presented.Comparative results with other control strategies verify the effectiveness and superiority of the proposed control approach.
作者
徐正伟
赵兴强
XU Zhengwei;ZHAO Xingqiang(CRRC Qingdao Sifang Rolling Stock Research Instititue Co.,Ltd.,Qingdao 266031,China;School of Automation,Chongqing University,Chongqing 400044,China)
出处
《智慧轨道交通》
2026年第1期69-75,共7页
INTELLIGENT RAIL TRANSIT
关键词
动车组
检修机械臂
轨迹跟踪
执行机构死区
自适应滑模控制
EMU
maintenance robotic arm
trajectory tracking
actuator dead zone
adaptive sliding mode control
