基于扰动观测器的铆接机器人轨迹跟踪控制

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振动与冲击 ›› 2023, Vol. 42 ›› Issue (14) : 296-305.

论文

基于扰动观测器的铆接机器人轨迹跟踪控制

李宗刚1,2，李龙雄1,2，杜亚江1,2，陈引娟1,2

作者信息 +

Disturbance observer based trajectory tracking control for a riveting robot

LI Zonggang1,2， LI Longxiong1,2, DU Yajiang1,2, CHEN Yinjuan1,2

Author information +

文章历史 +

摘要

为解决铆接机器人工作时外部干扰造成系统抖震大，轨迹跟踪精度较低问题，设计一种扰动观测器与分数阶滑模控制器组合的自适应控制方法。首先，通过引入时延估计策略建立铆接机器人的局部动力学模型，利用扰动观测器实时观测系统模型所受的可见干扰，其次，针对系统产生的抖震问题，设计分数阶滑模面替代传统滑模控制，采用新型趋近律使系统在切换面上能够连续平稳运动，针对系统所受的不可见干扰，设计自适应策略实现对外部干扰的完全补偿。最后通过Lyapunov函数证明所设计控制器的有效性。以三自由度机器人进行仿真及实体实验，结果表明，相较于分数阶滑模控制，采用本文控制器后机器人各关节的追踪误差峰值分别下降了50%、59%和63%，从而验证了该控制器不仅能有效消除系统所受较大干扰产生的抖震问题，而且提高了铆接机器人作业时的鲁棒性和轨迹跟踪精度。

Abstract

In order to solve the problem of higher chatter and lower trajectory tracking accuracy caused by external disturbances during the operation of the riveting robot, an adaptive control method combining a disturbance observer and a fractional-order sliding mode controller is designed. Firstly, the local dynamics model of the riveting robot is established by introducing the time delay estimation strategy, and the visible disturbances to the system model are observed in real time by using the disturbance observer, and secondly, the fractional-order sliding mode surface is designed to replace the traditional sliding mode control for the chatter, and the new convergence law is used to make the system move continuously and smoothly on the switching surface, and the adaptive strategy is designed to fully compensate for the external disturbances. Finally, the effectiveness of the designed controller is demonstrated by the Lyapunov function. The results show that the peak tracking errors of each joint of the robot are reduced by 50%, 59% and 63% respectively, compared with the fractional-order sliding mode control, the controller can not only effectively eliminate the chattering problem caused by the large interference of the system, but also improve the robustness and trajectory tracking accuracy of the riveting robot.

导出引用

李宗刚1,2，李龙雄1,2，杜亚江1,2，陈引娟1,2. 基于扰动观测器的铆接机器人轨迹跟踪控制[J]. 振动与冲击, 2023, 42(14): 296-305

LI Zonggang1,2， LI Longxiong1,2, DU Yajiang1,2, CHEN Yinjuan1,2. Disturbance observer based trajectory tracking control for a riveting robot[J]. Journal of Vibration and Shock, 2023, 42(14): 296-305

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