[1]曾庆山,周亚帅,陶长春,等.电驱动机械臂的自抗扰鲁棒哈密顿跟踪控制[J].郑州大学学报(工学版),2022,43(04):1-7.
 Active disturbance rejection robust Hamiltonian tracking control of electrically driven manipulator[J].Journal of Zhengzhou University (Engineering Science),2022,43(04):1-7.
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电驱动机械臂的自抗扰鲁棒哈密顿跟踪控制()
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《郑州大学学报(工学版)》[ISSN:1671-6833/CN:41-1339/T]

卷:
43
期数:
2022年04期
页码:
1-7
栏目:
出版日期:
2022-07-03

文章信息/Info

Title:
Active disturbance rejection robust Hamiltonian tracking control of electrically driven manipulator
作者:
曾庆山 周亚帅 陶长春 刘艳红
文献标志码:
A
摘要:
针对永磁同步电机驱动机械臂系统的无速度测量位置跟踪问题提出了自抗扰控制与哈密顿控制相结合的鲁棒控制策略。首先建立了考虑不确定性的电气子系统方程和机械子系统模型,依据独立关节控制思想将模型转化为单电机驱动单关节的端口哈密顿结构;然后,采用自抗扰控制思想简化系统中的机械方程,并设计级联扩张状态观测器对剩余总扰动观测误差进行估计,实现对期望位置的鲁棒跟踪,同时简单有效地获取到期望的q轴电流i_qi^*,最后,基于系统哈密顿结构设计互联、阻尼配置哈密顿控制器与H_∞控制器相结合的鲁棒哈密顿控制器,实现对电流的高精度鲁棒跟踪,并适当改进H_∞的引入时机改善了初始控制输入过大的问题。本文设计的控制算法无需速度测量、计算量小、稳态精度高、鲁棒性强。与其他控制方案的仿真对比结果验证了本文所提出的控制方案的有效性,级联ESO与传统ESO相比关节位置跟踪精度提升了0.003 rad,改进的鲁棒哈密顿控制器与哈密顿控制器相比关节位置跟踪精度提升了0.005 rad,电流跟踪精度显著提升,改进H_∞的引入时机初始控制输入显著降低。
Abstract:
Aiming at the problem of sensor-less speed position tracking problem of permanent magnet synchronous motor driven manipulator system, this paper proposes a robust control strategy combining active disturbance rejection control and Hamiltonian control. Firstly, the electrical subsystem equation and mechanical subsystem model considering uncertainty are established, and the model is transformed into a single-motor-driven single-joint port Hamiltonian structure according to the independent joint control idea Then, the active disturbance rejection control is used to simplify the mechanical equation of the system, and a cascaded extended state observer is designed to estimate the remaining total disturbance observation error, to achieve robust tracking of the desired position, and to obtain the desired q-axis current simply and effectively. Finally, a robust controller which combines the interconnections and damping assignment Hamiltonian controller with the H_∞ controller ba<x>sed on the system Hamiltonian structure is designed to achieve high precision robust current tracking, and improves the problem of large initial control input by improving the timing of introducing H_∞. Compared with other control schemes, the simulation results verify the effectiveness of the proposed control scheme. Compared with traditional ESO, the joint position tracking accuracy of the cascaded ESO is improved by 0.003 rad. Compared with the Hamiltonian controller, the joint position tracking accuracy of the improved robust Hamiltonian controller is improved by 0.005 rad, the current tracking accuracy is significantly improved, and the initial control input of the improved H_∞ introduction timing is significantly reduced.
更新日期/Last Update: 2022-07-03