平面欠驱动柔性机械臂的PSO轨迹优化与自抗扰振动抑制

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摘要针对平面单连杆柔性机械臂的振动抑制及稳定控制问题，提出一种基于粒子群算法的轨迹优化与自抗扰控制方法，实现机器人末端执行器从任意初始位置移动到目标位置，并且抑制住由柔性连杆引起的弹性振动。首先，基于假设模态法建立柔性机械臂的动力学模型，并对该模型的欠驱动特性进行分析，得到驱动变量与欠驱动变量之间的状态约束关系。其次，基于该约束关系，运用双向轨迹规划方法为驱动变量分别规划一条前向轨迹和一条反向轨迹。然后，采用粒子群算法对轨迹参数进行优化，确保两条轨迹平滑地拼合成一条完整轨迹。最后，设计自抗扰跟踪控制器使机械臂存在外部扰动和角速度不可测情况下精确地跟踪优化的轨迹，实现机械臂的振动抑制与稳定控制。仿真与对比结果表明，所提控制方法具有更好的振动抑制效果及鲁棒性。
关键词：柔性机械臂；轨迹规划；振动抑制；自抗扰；欠驱动系统

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	潘昌忠
	罗晶
	李智靖
	熊培银
	陈君

关键词 ：柔性机械臂, 轨迹规划, 振动抑制, 自抗扰, 欠驱动系统

Abstract：To address the problem of vibration suppression and stable control of a planar single-link flexible manipulator (PSLFM), a particle swarm algorithm-based trajectory optimization and an active disturbance rejection control method is proposed to move the end effector from any initial position to the target position, and restrain the elastic vibration caused by the flexible connecting rod. Firstly, the dynamic model of PSLFM is established based on assumed mode method, and the underactuated characteristic of the model is analyzed to obtain the state constraint relationship between the actuated variable and the underactuated variable. Secondly, based on the constraint relationship, a bidirectional trajectory planning method is used to plan a forward trajectory and a reverse trajectory for the actuated variable. Then, the particle swarm algorithm is used to optimize the trajectory parameters to ensure that the two trajectories are smoothly combined into a complete trajectory. Finally, an active disturbance rejection tracking controller is designed to enable the manipulator to accurately track the optimized trajectory in the presence of external disturbances and unmeasurable angular velocity, realizing the vibration suppression and stable control of the manipulator. Simulation and comparison results show that the proposed control method has better vibration suppression effect and robustness.
Key words: flexible manipulator; trajectory planning; vibration suppression; active disturbance rejection; underactuated system

Key words： flexible manipulator trajectory planning vibration suppression active disturbance rejection underactuated system

收稿日期: 2021-01-27 出版日期: 2022-07-28

引用本文:

潘昌忠，罗晶，李智靖，熊培银，陈君. 平面欠驱动柔性机械臂的PSO轨迹优化与自抗扰振动抑制[J]. 振动与冲击, 2022, 41(14): 181-189.
PAN Changzhong,LUO Jing,LI Zhijing,XIONG Peiyin,CHEN Jun. PSO-based trajectory optimization and active disturbance rejection vibration suppression of a planar underactuated flexible manipulator. JOURNAL OF VIBRATION AND SHOCK, 2022, 41(14): 181-189.

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http://jvs.sjtu.edu.cn/CN/ 或 http://jvs.sjtu.edu.cn/CN/Y2022/V41/I14/181

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