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基于空间机械臂关节齿隙补偿的滑模控制策略研究

发表时间:2015-03-31  浏览量:2500  下载量:1624
全部作者: 何诗文,贾庆轩,陈钢
作者单位: 北京邮电大学自动化学院
摘 要: 为提高空间机械臂运行性能,提出一种补偿空间机械臂柔性关节齿隙非线性影响的控制方法。考虑齿侧间隙的空间机械臂柔性关节模型,将关节间隙的非线性影响归纳为扰动项,提出基于扰动观测器(disturbance observer,DOB)的滑模控制策略,消除间隙的非线性影响。为解决空间机械臂柔性关节模型存在强非线性以及耦合问题,采用微分几何反馈线性化的解耦方法对上述关节控制系统进行线性化处理,最终实现了空间机械臂柔性关节的补偿控制。仿真结果表明:DOB结合滑模控制策略可有效补偿间隙对系统位置精度的影响,与单纯的滑模控制策略相比,提高了轨迹跟踪精度,同时抖动现象明显减小。
关 键 词: 机器人控制;柔性关节模型;扰动观测器;齿隙;滑模控制
Title: A novel sliding mode controller design of space manipulator for backlash compensation
Author: HEShiwen, JIAQingxuan, CHEN Gang
Organization: School of Automation,Beijing University of Posts and Telecommunications
Abstract: In order to improve the operating performance, a novel control method to compensate the backlash of space manipulator nonlinearity was proposed. Considering the normal elastic joint model of space manipulator with backlash, nonlinearity of backlash was treated as torque disturbance, which entered the system at the location of backlash. Then a sliding mode controller based on disturbance observer (DOB) was conducted to eliminate the nonlinearity disturbance. To solve the problems of couple and strong nonlinearity of elastic joint, a decoupling method based on feedback linearization in differential geometry was used to handle the control system. Eventually, the backlash effect was eliminated and compensated using the proposed method, which was verified by the simulation results. The results indicate that not only the novel method, DOB combined with sliding mode, can improve the tracking precision, but obviously reduce the chattering and improve tracking precision compared with single sliding mode control.
Key words: robot control; elastic joint model; disturbance observer; backlash; sliding model control
发表期数: 2015年3月第6期
引用格式: 何诗文,贾庆轩,陈钢. 基于空间机械臂关节齿隙补偿的滑模控制策略研究[J]. 中国科技论文在线精品论文,2015,8(6):614-625.
 
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