基于低通滤波器的柔性关节空间机器人时延估计跟踪控制
2024,46(4):142-149
徐河振
福州大学 机械工程及自动化学院, 福建 福州 350116，1599510480@qq.com
于潇雁
福州大学 机械工程及自动化学院, 福建 福州 350116;
福州大学 流体动力与电液智能控制福建省高校重点实验室, 福建 福州 350116
张宇涵
福州大学 机械工程及自动化学院, 福建 福州 350116
陈力
福州大学 机械工程及自动化学院, 福建 福州 350116
福州大学 机械工程及自动化学院, 福建 福州 350116，1599510480@qq.com
于潇雁
福州大学 机械工程及自动化学院, 福建 福州 350116;
福州大学 流体动力与电液智能控制福建省高校重点实验室, 福建 福州 350116
张宇涵
福州大学 机械工程及自动化学院, 福建 福州 350116
陈力
福州大学 机械工程及自动化学院, 福建 福州 350116
摘要：
为解决位姿不受控情况下柔性关节空间机器人系统预抓取阶段的关节跟踪控制和振动问题,采用拉格朗日方程并结合动量守恒原理进而建立漂浮基三杆柔性关节空间机器人系统动力学方程。为提高柔性关节的等效刚度,引入关节柔性补偿的方法；即根据奇异摄动理论,将柔性关节空间机器人系统分解为慢变系统和快变系统。在此基础上,针对慢变系统设计以时延估计为主框架的滑模控制方法,同时与低通滤波器相结合消除滑模控制带来的系统抖振问题；针对快变系统设计线性速度差值反馈控制系统,抑制柔性关节给系统带来的柔性振动问题。通过仿真验证空间机械臂能够在有限时间内快速、稳定地跟踪上期望轨迹,证实该控制方案具有较好的鲁棒性和可靠性。
为解决位姿不受控情况下柔性关节空间机器人系统预抓取阶段的关节跟踪控制和振动问题,采用拉格朗日方程并结合动量守恒原理进而建立漂浮基三杆柔性关节空间机器人系统动力学方程。为提高柔性关节的等效刚度,引入关节柔性补偿的方法；即根据奇异摄动理论,将柔性关节空间机器人系统分解为慢变系统和快变系统。在此基础上,针对慢变系统设计以时延估计为主框架的滑模控制方法,同时与低通滤波器相结合消除滑模控制带来的系统抖振问题；针对快变系统设计线性速度差值反馈控制系统,抑制柔性关节给系统带来的柔性振动问题。通过仿真验证空间机械臂能够在有限时间内快速、稳定地跟踪上期望轨迹,证实该控制方案具有较好的鲁棒性和可靠性。
基金项目：
国家自然科学基金资助项目(11372073,51741502)；福建省自然科学基金资助项目(2020J01450)；福建省工业机器人基础部件技术重大研发平台资助项目(2014H21010011)
国家自然科学基金资助项目(11372073,51741502)；福建省自然科学基金资助项目(2020J01450)；福建省工业机器人基础部件技术重大研发平台资助项目(2014H21010011)
Time-delay estimation tracking control of flexible-joint space robot based on low-pass filter
XU Hezhen
School of Machine Engineer and Automation, Fuzhou University, Fuzhou 350116, China,1599510480@qq.com
YU Xiaoyan
School of Machine Engineer and Automation, Fuzhou University, Fuzhou 350116, China;
Key Laboratory of Fluid Power and Intelligent Electro-Hydraulic Control, Fuzhou University, Fuzhou 350116, China
ZHANG Yuhan
School of Machine Engineer and Automation, Fuzhou University, Fuzhou 350116, China
CHEN Li
School of Machine Engineer and Automation, Fuzhou University, Fuzhou 350116, China
School of Machine Engineer and Automation, Fuzhou University, Fuzhou 350116, China,1599510480@qq.com
YU Xiaoyan
School of Machine Engineer and Automation, Fuzhou University, Fuzhou 350116, China;
Key Laboratory of Fluid Power and Intelligent Electro-Hydraulic Control, Fuzhou University, Fuzhou 350116, China
ZHANG Yuhan
School of Machine Engineer and Automation, Fuzhou University, Fuzhou 350116, China
CHEN Li
School of Machine Engineer and Automation, Fuzhou University, Fuzhou 350116, China
Abstract：
In order to solve the joint tracking control and vibration problem of flexible-joint space robot system in the pre-grasping stage when the position and pose are not controlled, the dynamic equations of a free-floating three-bar flexible-joint space robot system are established using the Lagrangian equation in conjunction with the principle of momentum conservation. In order to improve the equivalent stiffness of flexible-joint, a joint flexible compensation method was introduced. The flexible-joint space robot system was divided into slow and fast systems by singular perturbation theory. On this basis, a sliding mode control method with time delay estimation as the main framework was designed for the slow variable systems, while combining it with a low-pass filter to eliminate the system chattering problem caused by sliding mode control. A linear velocity difference feedback control system was designed for the fast-changing system to suppress the flexible vibration problems introduced by the flexible joints. Simulation verification demonstrates that the space robotic arm is capable of quickly and steadily tracking the desired trajectory within a limited time, confirming that the control scheme possesses good robustness and reliability.
In order to solve the joint tracking control and vibration problem of flexible-joint space robot system in the pre-grasping stage when the position and pose are not controlled, the dynamic equations of a free-floating three-bar flexible-joint space robot system are established using the Lagrangian equation in conjunction with the principle of momentum conservation. In order to improve the equivalent stiffness of flexible-joint, a joint flexible compensation method was introduced. The flexible-joint space robot system was divided into slow and fast systems by singular perturbation theory. On this basis, a sliding mode control method with time delay estimation as the main framework was designed for the slow variable systems, while combining it with a low-pass filter to eliminate the system chattering problem caused by sliding mode control. A linear velocity difference feedback control system was designed for the fast-changing system to suppress the flexible vibration problems introduced by the flexible joints. Simulation verification demonstrates that the space robotic arm is capable of quickly and steadily tracking the desired trajectory within a limited time, confirming that the control scheme possesses good robustness and reliability.
收稿日期：
2022-03-04
2022-03-04
