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车体振动弹药传输机械臂的有界轨迹跟踪控制

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车体振动弹药传输机械臂的有界轨迹跟踪控制
Bounded Tracking Control of Ammunition Transfer Manipulators with Chassis Oscillation
投稿时间:2016-12-13
DOI:10.15918/j.tbit1001-0645.2017.05.004
中文关键词:弹药传输机械臂轨迹跟踪隐式Lyapunov函数计算力矩法有界控制
English Keywords:ammunition transfer manipulatortrajectory trackingimplicit Lyapunov functioncomputed torque methodbounded control
基金项目:国家自然科学基金资助项目(51605344,51175266);中国博士后科学基金资助项目(2016M592398)
作者单位E-mail
郭宇飞武汉科技大学 冶金装备及其控制教育部重点实验室, 湖北, 武汉 430081
武汉科学大学 机械传动与制造工程湖北省重点实验室, 湖北, 武汉 430081
guoyufei_1985@163.com
侯保林南京理工大学 机械工程学院, 江苏, 南京 210094
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中文摘要:
针对传统PID控制器未能考虑车体振动带来的不确定性外部摄动的影响,且存在控制性能依赖高控制输入、驱动容易饱和的缺点,基于计算力矩法与一种基于隐式Lyapunov函数的控制律,提出一种新的弹药传输机械臂轨迹跟踪控制方法.控制器的增益是系统误差变量的可微函数,随着实际轨迹逐渐趋向于期望轨迹,该增益逐渐趋向于无穷大,但是控制输入始终满足给定的约束.数值求解系统的动力学方程中采用牛顿迭代法与龙格库塔法交叉迭代.结果显示,所设计的控制器可以有效抑制车体振动的影响,实现了弹药传输机械臂的渐进轨迹跟踪控制,具有良好的鲁棒性.
English Summary:
Dynamics of ammunition transfer manipulators is strongly affected by nonlinear forces due to the oscillation of the chassis, resulting in poor positioning accuracy of the ammunition. Traditional PID controller ignores the uncertain disturbance caused by the chassis vibration, and shows the problems of high control gains and actuator saturation. In this paper, a new tracking control approach was proposed based on the computed torque method and an implicit Lyapunov based control. Being differentiable functions of error variables of the system, the controller's gains can increase and tend to zero as the actual trajectory approximating to the desired trajectory, but the control force can always satisfy the given constrain.The dynamic equation of the system was solved with Newton's method and Runge-Kutta method. Results demonstrate that the controller greatly compensates the effects of the chassis oscillation, can fulfill the accurate tracking control of the ammunition transfer manipulator, and show good robustness.
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