引用本文: | 王乐君,孟庆鑫,赖旭芝,吴敏.垂直三连杆欠驱动机械臂通用控制策略设计[J].控制理论与应用,2020,37(12):2493~2500.[点击复制] |
WANG Le-jun,MENG Qing-xin,LAI Xu-zhi,WU Min.General control strategy design for vertical three-link underactuated manipulators[J].Control Theory and Technology,2020,37(12):2493~2500.[点击复制] |
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垂直三连杆欠驱动机械臂通用控制策略设计 |
General control strategy design for vertical three-link underactuated manipulators |
摘要点击 2436 全文点击 837 投稿时间:2020-05-03 修订日期:2020-06-23 |
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DOI编号 10.7641/CTA.2020.00238 |
2020,37(12):2493-2500 |
中文关键词 垂直三连杆欠驱动机械臂 轨迹 粒子群优化 跟踪控制 稳定控制 |
英文关键词 vertical three-link underactuated manipulator trajectories particle swarm optimization (PSO) tracking control stable control |
基金项目 国家自然科学基金项目(61773353), 湖北省自然科学基金创新群体项目(2015CFA010), 高等学校学科创新引智计划项目(B17040)资助. |
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中文摘要 |
本文针对一类含单一欠驱动关节的垂直三连杆欠驱动机械臂提出一种基于振荡衰减轨迹的通用控制策略.
与传统的分区控制策略相比, 本文控制策略无需采用分区方式就能快速地实现将机械臂末端点由垂直向下初始位
置开始移动, 并最终稳定在垂直向上目标位置的控制目标. 首先, 根据驱动连杆的初始和目标状态, 为驱动连杆规划
含可调参数的振荡衰减轨迹. 该轨迹能够在一定调节时间内将驱动连杆直接由初始状态移动至目标状态. 基于连
杆状态间的耦合关系, 利用粒子群优化算法优化轨迹参数使欠驱动连杆在相同调节时间内也运动至目标状态. 接
着, 利用滑模方法设计跟踪控制器使驱动连杆跟踪优化后的振荡衰减轨迹, 这样, 系统末端点将由初始位置移动至
目标位置. 进一步利用极点配置方法设计镇定控制器克服重力的作用将末端点稳定在目标位置. 最后, 通过仿真实
验验证所提控制策略的有效性. |
英文摘要 |
This paper proposes a unified control strategy based on oscillatory attenuation trajectory for a three-link vertical
underactuated manipulator with a single underactuated joint. Compared with the traditional partition control strategy,
the proposed control strategy realizes the control target, which is to move the end point of the manipulator from the vertical
downward initial position and to stabilize it at the vertical upward target position, quickly without using the partition control
method. Firstly, according to the initial states and final states of the active links, the oscillation attenuation trajectories with
adjustable parameters are planned, along which the active links can move from the initial states to the target states directly
within a certain adjustment time. Based on the coupling action among the states of all links, we optimize the trajectory
parameters by the particle swarm optimization algorithm so as to ensure the passive link reaches the target states in same
adjustment time. Next, we design the tracking controller to track the optimized trajectories of the active links, moving the
endpoint to the target position. Further, the pole assignment method is used to design the stabilization controller to overcome
gravity and stabilize the endpoint at the target position. Finally, the effectiveness of the proposed method is verified
by simulation experiments. |
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