| 引用本文: | 孔民秀,陈正升,刘明,季晨.采用积分流形与观测器的并联机器人轨迹控制[J].哈尔滨工业大学学报,2017,49(1):37.DOI:10.11918/j.issn.0367-6234.2017.01.005 |
| KONG Minxiu,CHEN Zhengsheng,LIU Ming,JI Chen.Trajectory tracking control of parallel manipulator with integral manifold and observer[J].Journal of Harbin Institute of Technology,2017,49(1):37.DOI:10.11918/j.issn.0367-6234.2017.01.005 |
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| 摘要: |
| 针对含柔性杆件并联机器人在高速运行时其末端存在弹性位移问题，以3RRR并联机器人为研究对象，提出一种基于积分流形与高增益观测器的柔性并联机器人轨迹跟踪复合控制算法. 基于刚度矩阵引入小参数，将刚柔耦合动力学模型转为慢速与快速两个子系统. 针对慢速子系统，采用反演控制，实现对末端刚体运动的跟踪控制，同时为避免杆件弹性变形与振动组成的弹性位移对机器人末端轨迹的影响，推导校正力矩，实现对弹性位移的补偿. 针对快速子系统，采用滑模变结构控制，保证流形成立. 为避免对曲率变化率的直接测量，引入高增益观测器对其进行估计. 采用Lyapunov稳定性原理证明系统整体稳定性，并给出小参数上界. 对提出的复合控制算法与奇异摄动及基于刚体动力学的反演控制算法进行仿真，从机器人末端振动抑制与轨迹跟踪性能两方面进行对比，验证了本文所提算法的控制效果.
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| 关键词: 并联机器人 积分流形 高增益观测器 复合控制 滑模控制 反演控制 振动抑制 |
| DOI：10.11918/j.issn.0367-6234.2017.01.005 |
| 分类号:TP242 |
| 文献标识码:A |
| 基金项目:国家自然科学基金(51075086) |
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| Trajectory tracking control of parallel manipulator with integral manifold and observer |
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KONG Minxiu,CHEN Zhengsheng,LIU Ming,JI Chen
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（School of Mechatronics Engineering, Harbin Institute of Technology, Harbin 150001, China）
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| Abstract: |
| In view of the problem that flexible displacement will occur for end-effectors of parallel manipulators when operating at a high speed, taking the 3RRR parallel manipulator as the object, the trajectory tracking composite controller based on the integral manifold and high-gain observer is proposed for flexible parallel manipulators. Based on the stiffness matrix, the small variable is introduced to decomposite the rigid-flexible coupling dynamic model of the parallel manipulator into slow subsystem and fast subsystem. For the slow subsystem, the backstepping control is applied for rigid motion tracking of the end-effector. To avoid the influence of the links’ flexible displacement comprised of deformation and vibration on the end-effector’s motion trajectory, the corrective torque is deduced, and the compensation for the flexible displacement is realized. For the fast subsystem, the sliding mode control is utilized to suppress the vibration. At the same time, the high gain observer is designed to avoid the measurement of curvature rate of the flexible links. Also, the stability of the overall system with the proposed method is proven with the Lyapunov stability theorem and the upper bound of the small variable is obtained. At last, the proposed composite controller together with the singular perturbation control and the rigid model based on backstepping control are simulated, and the vibration suppression and tracking accuracy performances are compared to validate the proposed control scheme.
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| Key words: parallel manipulator integral manifold high-gain observer composite control sliding mode control backstepping control vibration suppression |
