双连杆机械臂自抗扰控制器设计

熊涛,齐乃明,宋志国

1.北京卫星环境工程研究所;2.哈尔滨工业大学航天学院



摘要:

针对双连杆机械臂非线性耦合系统,对2个关节分别设计了自抗扰控制器,运用自抗扰控制技术中的扩张状态观测器对系统进行动态补偿线性化,从而实现了2个关节的解耦控制.通过适当选择自抗扰控制器的控制参数,实现了机械臂的精确轨迹跟踪控制,仿真结果证明了自抗扰控制器的有效性和较强的鲁棒性,为机械臂的轨迹跟踪控制提出了新的思路.

关键词:  双连杆机械臂  自抗扰控制器  解耦控制  轨迹跟踪

DOI：10.11918/j.issn.0367-6234.2011.05.027

分类号:TP241

基金项目:航天科技创新基金资助项目(CASC200902)



Auto-disturbance resistant controller design of two-link manipulators

XIONG Tao¹, QI Nai-ming², SONG Zhi-guo³

1.Beijing Institute of Satellite Environment Engineering,100094 Beijing,China;2.School of Astronautics,Harbin Institute of Technology,150001 Harbin,China;3.School of Astronautics,Harbin Institute of Technology,150002 Harbin,China

Abstract:

For the nonlinear coupled system of two-link manipulators,ADRC(auto-disturbance resistant control) controllers are designed for the two joints,in which the ESO of ADRC for linearization via dynamic compensation is used to realize the decoupling control of two joints.Accurate tracking control of manipulator is achieved by selecting the control parameters of ADRC properly.Simulation results show the effectivity and the robustness of ADRC and put forward a new way for the tracking control of manipulator.

Key words:  two-link manipulators  ADRC  decoupling control  tracking