【摘要】：針對(duì)傳統(tǒng)PID控制器未能考慮車體振動(dòng)帶來的不確定性外部攝動(dòng)的影響,且存在控制性能依賴高控制輸入、驅(qū)動(dòng)容易飽和的缺點(diǎn),基于計(jì)算力矩法與一種基于隱式Lyapunov函數(shù)的控制律,提出一種新的彈藥傳輸機(jī)械臂軌跡跟蹤控制方法.控制器的增益是系統(tǒng)誤差變量的可微函數(shù),隨著實(shí)際軌跡逐漸趨向于期望軌跡,該增益逐漸趨向于無窮大,但是控制輸入始終滿足給定的約束.數(shù)值求解系統(tǒng)的動(dòng)力學(xué)方程中采用牛頓迭代法與龍格庫塔法交叉迭代.結(jié)果顯示,所設(shè)計(jì)的控制器可以有效抑制車體振動(dòng)的影響,實(shí)現(xiàn)了彈藥傳輸機(jī)械臂的漸進(jìn)軌跡跟蹤控制,具有良好的魯棒性.
[Abstract]:The traditional PID controller fails to take into account the uncertain external perturbation caused by the vibration of the car body, and has the disadvantage that the control performance depends on the high control input and the drive is easily saturated. Based on the moment calculation method and a control law based on implicit Lyapunov function, a new trajectory tracking control method for ammunition transmission manipulator is proposed. The gain of the controller is a differentiable function of the system error variable. With the actual trajectory moving towards the desired trajectory, the gain tends to infinity, but the control input always satisfies the given constraints. Newton iteration method and Runge-Kutta method are used to solve the dynamic equations of the system. The results show that the designed controller can effectively suppress the effect of the vehicle body vibration and achieve the progressive trajectory tracking control of the ammunition transfer manipulator with good robustness.
【作者單位】： 武漢科技大學(xué)冶金裝備及其控制教育部重點(diǎn)實(shí)驗(yàn)室;武漢科學(xué)大學(xué)機(jī)械傳動(dòng)與制造工程湖北省重點(diǎn)實(shí)驗(yàn)室;南京理工大學(xué)機(jī)械工程學(xué)院;
【基金】：國家自然科學(xué)基金資助項(xiàng)目(51605344,51175266) 中國博士后科學(xué)基金資助項(xiàng)目(2016M592398)
【分類號(hào)】：TJ810.3;TP241
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本文編號(hào)：2411435