【摘要】 为了提高机械臂轨迹跟踪的精度和速度,提出了干扰观测器与非线性滑模控制相结合的轨迹跟踪控制方法。建立了机械臂动力学模型,设计了机械臂轨迹跟踪控制方案。将机械臂受到的扰动分为可观测部分和不可观测部分,对于可观测部分,设计了干扰观测器用于估计扰动大小,依据扰动观测值对控制力矩进行补偿,主动消除可观测部分扰动的影响;对于不可观测部分,设计了非线性滑模控制器,用于减小不可观测扰动造成的跟踪误差与抖动。经仿真验证,与传统滑模控制和非线性滑模控制相比,干扰观测器与非线性滑模控制相结合的轨迹跟踪误差减小了一个数量级以上,且跟踪速度最快。更多还原

【Abstract】 In order to improve manipulator trajectory tracking accuracy and speed,trajectory tracking method by combining disturbance observer and nonlinear sliding mode control is proposed. Dynamic model of manipulator is built, and manipulator trajectory tracking control project is designed. disturbance on manipulator is divided to observable part and unobservable part. For observable part,disturbance observer is designed to estimate size of the disturbance,and control moment is compensated depending on disturbance observed value,which can eliminate effect of observable part on manipulator tracking. For unobservable part,nonlinear sliding mode controller is designed to reduce tracking error and shaking caused by disturbance unobservable part. Clarified by simulation,compared with traditional sliding mode control and nonlinear sliding mode control,trajectory tracking error controlled by combining disturbance observer and nonlinear sliding mode control reduces by more than an order of magnitude,and tracking is the fastest.更多还原