[1]姚伟,张丹丹,郭毓,等.一种改进的柔性关节机械臂分级滑模控制[J].东南大学学报(自然科学版),2018,48(2):201-206.[doi:10.3969/j.issn.1001-0505.2018.02.002]
 Yao Wei,Zhang Dandan,Guo Yu,et al.Improved hierarchical sliding mode control for flexible-joint manipulator[J].Journal of Southeast University (Natural Science Edition),2018,48(2):201-206.[doi:10.3969/j.issn.1001-0505.2018.02.002]
点击复制

一种改进的柔性关节机械臂分级滑模控制()
分享到:

《东南大学学报(自然科学版)》[ISSN:1001-0505/CN:32-1178/N]

卷:
48
期数:
2018年第2期
页码:
201-206
栏目:
自动化
出版日期:
2018-03-20

文章信息/Info

Title:
Improved hierarchical sliding mode control for flexible-joint manipulator
作者:
姚伟张丹丹郭毓吴益飞郭健
南京理工大学自动化学院, 南京 210094
Author(s):
Yao Wei Zhang Dandan Guo Yu Wu Yifei Guo Jian
School of Automation, Nanjing University of Science and Technology, Nanjing 210094, China
关键词:
多自由度 柔性关节机械臂 分级滑模 双幂次 振动削弱
Keywords:
flexible-joint manipulator hierarchical sliding mode double power vibration weaken
分类号:
TP24
DOI:
10.3969/j.issn.1001-0505.2018.02.002
摘要:
为实现多自由度柔性关节机械臂高精度定点控制和振动抑制,提出了一种改进的分级滑模控制算法.该算法借鉴分级滑模的思想,分别根据减速器输出角和关节角设计第一级滑模面,然后根据第一级滑动模态设计第二级滑模面.采用双幂次趋近律,使滑动模态无论是远离还是接近滑模面时都具有很快的趋近速度,而且控制力矩的抖振小,动态性能好.应用李雅普诺夫理论证明了所设计的控制器能够保证二级滑动模态有限时间有界稳定,进而一级滑动模态和系统状态也是有限时间有界稳定.数字仿真结果表明,所提控制算法与未改进之前相比,关节角的响应时间快1 s,并且提高了定点控制的精度,有效减小了抖振.
Abstract:
Aiming at achieving high accuracy set point control and suppressing the vibration of multi-DOF flexible-joint manipulator, an improved hierarchical sliding mode control(IHSM)algorithm was presented. The algorithm was based on the idea of hierarchical sliding mode control: the first order sliding surface was designed according to the reducer output angle and joint angle respectively. Then the second order sliding surface was designed based on the first two sliding modes. A double power reaching law was used to assure fast reaching process whether the sliding mode was away from or close to the sliding surface as well as to reduce the control torque chattering, thus obtaining good dynamic performance. The finite time bounded stability of the second order sliding mode was proved by Lyapunov technique. The first order sliding mode and system states were also finite time boundedly stable. Simulation result show that compared with the normal hierarchical sliding mode control algorithm, the algorithm can fasten the joint angle response speed about 1 s, improve the precision of the fixed-point control and reduce the vibration effectively.

参考文献/References:

[1] Sasiadek J Z, Green A, Ulrich S, et al. Nonparametric identification and control of flexible joint robot manipulator[C]//19th International Conference On Methods and Models in Automation and Robotics. Miedzyzdroje, Poland, 2014: 221-228. DOI:10.1109/mmar.2014.6957355.
[2] Yim J G, Yeon J S, Park J H, et al. Robust control using recursive design method for flexible joint robot manipulator[C]//2007 IEEE International Conference on Robotics and Automation. Roma, Italy,2007: 3805-3810. DOI:10.1109/robot.2007.364062.
[3] Chang Y C, Yen H M. Design of a robust position feedback tracking controller for flexible-joint robots[J]. IET Control Theory & Applications, 2011, 5(2): 351-363. DOI:10.1049/iet-cta.2010.0166.
[4] 王峰. 柔性关节机器人的参数辨识及模糊控制研究[D]. 北京: 北京邮电大学自动化院, 2012.
[5] Xu G, Sun C, Zhang H, et al. Vibration suppressive control of flexible-joint space manipulators based on Legendre pseudo spectral method[C]//The 26th Chinese Control and Decision Conference. Changsha, China, 2014: 3322-3327. DOI:10.1109/ccdc.2014.6852748.
[6] 安凯, 王飞飞. 一种单连杆机械臂柔性关节的滑模变结构控制[J]. 现代电子技术, 2016, 39(2): 4-8. DOI:10.16652/j.issn.1004-373x.2016.02.002
An Kai, Wang Feifei. Sliding mode variable structure control for flexible joint of single connecting-rod mechanical arm[J]. Modern Electronics Technique, 2016, 39(2): 4-8. DOI:10.16652/j.issn.1004-373x.2016.02.002. (in Chinese)
[7] Zouari L, Abid H, Abid M. Sliding mode and PI controllers for uncertain flexible joint manipulator[J]. International Journal of Automation and Computing, 2015, 12(2): 117-124. DOI:10.1007/s11633-015-0878-x.
[8] Slotine J J, Sastry S S. Tracking control of non-linear systems using sliding surfaces with application to robot manipulators[J]. International Journal of Control, 1983, 38(2): 465-492. DOI:10.1080/00207178308933088.
[9] Moreno J A, Osorio M. Strict Lyapunov functions for the super-twisting algorithm[J]. IEEE Transactions on Automatic Control, 2012, 57(4):1035-1040. DOI:10.1109/tac.2012.2186179.
[10] Rosales A, Shtessel Y, Fridman L, et al. Chattering analysis of HOSM controlled systems: Frequency domain approach[J]. IEEE Transactions on Automatic Control, 2017, 62(8): 4109-4115.
[11] 庄未, 刘晓平. 多连杆柔性关节机械臂的神经滑模控制[J]. 系统仿真学报, 2011, 23(10): 2098-2102. DOI:10.16182/j.cnki.joss.2011.10.037
Zhuang Wei, Liu Xiaoping. Neural sliding mode control of multiple-link flexible joint manipulator[J]. Journal of System Simulation, 2011, 23(10):2098-2102. DOI:10.16182/j.cnki.joss.2011.10.037. (in Chinese)
[12] 邓夏, 贾庆轩, 褚明, 等. 基于动态切换函数的单杆柔性臂动态滑模——最优混合控制[J].新型工业化, 2012, 2(10): 59-66. DOI:10.19335/j.cnki.2095-6649.2012.10.007
Deng Xia, Jia Qingxuan, Chu Ming, et al. The composite control of dynamic sliding mode and optimal of one-link flexible manipulators based on dynamic switching[J]. The Journal of New Industrialization, 2012, 2(10): 59-66. DOI:10.19335/j.cnki.2095-6649.2012.10.007. (in Chinese)
[13] Spong M W. Modeling and control of elastic joint robots[J]. Journal of Dynamic Systems,Measurement, and Control, 1987, 109(4): 310-318. DOI:10.1115/1.3143860.
[14] Polyakov A, Fridman L. Stability notions and Lyapunov functions for sliding mode controls ystems[J]. Journal of the Franklin Institute, 2014, 351(4): 1831-1865. DOI:10.1016/j.jfranklin.2014.01.002.
[15] 刘业超. 柔性关节机械臂控制策略的研究[D]. 哈尔滨: 哈尔滨工业大学机电工程学院, 2009.

备注/Memo

备注/Memo:
收稿日期: 2017-09-21.
作者简介: 姚伟(1990—),男,博士生;郭毓(联系人),女,博士,教授,博士生导师, guoyu@njust.edu.cn.
基金项目: 国家自然科学基金资助项目(61673214,61673219,61773211)、江苏省重点研发计划资助项目(BE2015164,BE2017161)、江苏高校优势学科建设工程资助项目、江苏省普通高校学术学位研究生科研创新计划资助项目(KYLX16_0452).
引用本文: 姚伟,张丹丹,郭毓,等.一种改进的柔性关节机械臂分级滑模控制[J].东南大学学报(自然科学版),2018,48(2):201-206. DOI:10.3969/j.issn.1001-0505.2018.02.002.
更新日期/Last Update: 2018-03-20