考虑关节柔性的绳驱动空中机械臂关节空间鲁棒控制
作者:
作者单位:

1.江苏理工学院;2.南京航空航天大学

作者简介:

通讯作者:

中图分类号:

TP242

基金项目:

国家自然科学基金项目(面上项目,重点项目,重大项目)


Robust Control for a Cable-driven Aerial Manipulator with Joint Flexibility in Joint Space
Author:
Affiliation:

1.Jiangsu University of Technology;2.Nanjing University of Aeronautics and Astronautics

Fund Project:

The National Natural Science Foundation of China (General Program, Key Program, Major Research Plan)

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    摘要:

    空中机械臂在外部环境交互作业方面表现出很强的研究及应用价值,但当前系统位姿控制性能较弱、负载能力不足及续航时间短的问题严重制约了其作业能力的提升。设计了一种带有绳驱动机械臂的新型空中机械臂系统,并将引入绳驱动机制带来的柔性效应等价到关节处,建立了考虑关节柔性的刚柔耦合动力学模型。针对系统在集总干扰下的关节空间轨迹跟踪控制,采用线性扩张状态观测器对集总干扰进行了估计与补偿,并采用超螺旋算子和分数阶非奇异终端滑模来保证系统在到达阶段和滑模阶段都有较好的控制性能。同时,在Lyapunov稳定性框架下证明了所设计控制器的稳定性。最后,通过可视化仿真和地面试验对所控制器的有效性进行了验证。结果表明:所设计的鲁棒控制器比其他两种现有的控制器具有更快的响应速度、更强的抗干扰能力及更高的跟踪精度,能够满足绳驱动空中机械臂的控制需求。

    Abstract:

    Aerial manipulator shows intense research value and application value in terms of interacting with the external environment. However, the improvement of operation ability of the rotary-wing flight robot is restricted at present, which the primary reasons are the weak pose control performance, insufficient load capacity, and short endurance time. This paper designed a novel cable-driven aerial manipulator system. Considering the flexibility of cable-driven mechanism, a rigid-flexible coupling dynamics model has been established since considering the joint flexibility. To address the trajectory tracking control issue in joint space under lumped disturbances, a linear extended state observer is adopted to estimate and compensate the lumped disturbances. Meanwhile, a super-twisting algorithm and fractional-order non-singular terminal sliding mode are used to ensure good control performance in both the reaching phase and the sliding mode phase. Furthermore, the stability of the proposed controller has been proven with Lyapunov theory. Lastly, the effectiveness of the proposed controller has been verified through visual simulation and ground test. All the results show that the proposed controller has faster response speed, stronger disturbance rejection ability, and higher tracking accuracy compared to other common controllers, which can satisfy the control requirements of the cable-driven aerial manipulator.

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历史
  • 收稿日期:2021-11-02
  • 最后修改日期:2022-01-06
  • 录用日期:2022-01-11
  • 在线发布日期: 2022-02-01
  • 出版日期: