基于隐式Lyapunov函数的弹药传输机械臂变增益超螺旋滑模控制

doi:10.12382/bgxb.2023.0642

摘要/Abstract

摘要：

为提高某弹药传输机械臂在传输弹药过程中受到负载不确定性影响下的定位控制鲁棒性,提出一种新型的基于隐式Lyapunov函数变增益超螺旋滑模控制方法。建立弹药传输机械臂系统的动力学方程,并对方程中摩擦力矩及支反力矩的重要参数进行辨识,减少系统不确定性。构造隐式Lyapunov函数并设计出一种新型的变增益超螺旋滑模控制策略,通过Lyapunov稳定性理论证明闭环系统全局稳定。超螺旋滑模控制增益的变化取决于系统的Lyapunov函数,是滑模变量的可微函数,具有控制参数易调节的优势。实验结果表明:摩擦力矩及支反力矩补偿可使系统定位时间由补偿前2.659s缩短到1.157s,提高了系统定位性能。在不同工况下,控制方法可有效地抑制系统负载不确定性的影响,保证系统的定位稳定性。

关键词: 弹药传输机械臂, 参数辨识, 隐式Lyapunov函数, 超螺旋滑模控制, 定位控制

Abstract:

To improve the robustness of positioning control of an ammunition transfer manipulator under the influence of load uncertainties during the ammunition transmission process, a novel variable-gain super-twisting sliding mode control method based on implicit Lyapunov function is proposed. A dynamic model of ammunition transfer manipulator system is established, and then the key parameters of friction torque and balance torque in the equations are identified to further reduce the system uncertainty. A variable-gain super-twisting sliding mode control strategy is designed by utilizing the implicit Lyapunov function, and then the global stability of the closed-loop system is proved by the Lyapunov stability theory. The value of the control gains is determined by the system Lyapunov function, which is a differentiable function of the sliding mode variable. Therefore, the proposed control method has the advantage of easy adjustment of control parameters. The experimental results show that the compensations of friction torque and balance torque can shorten the positioning time from 2.659s to 1.157s, which improves the positioning performance of the system. Under different experimental conditions, the proposed control method can effectively suppress the influence of load uncertainties and guarantee the positioning stability of the system.

Key words: ammunition transfer manipulator, parameter identification, implicit Lyapunov function, super-twisting sliding mode control, positioning control

中图分类号:

TJ303
TP241

林瑜斌, 侯保林, 鲍丹, 赵伟. 基于隐式Lyapunov函数的弹药传输机械臂变增益超螺旋滑模控制[J]. 兵工学报, 2024, 45(8): 2573-2583.

LIN Yubin, HOU Baolin, BAO Dan, ZHAO Wei. Implicit Lyapunov Function-based Variable Gain Super-twisting Sliding Mode Control of an Ammunition Transfer Manipulator[J]. Acta Armamentarii, 2024, 45(8): 2573-2583.

图/表 13

图1 弹药传输机械臂三维模型

Fig.1 3D model of an ammunition transfer manipulator

图2 摩擦力矩辨识

Fig.2 Identification curve of friction torque

图3 误差函数收敛过程

Fig.3 Convergence process of error function

表1 摩擦模型参数辨识结果

Table 1 Parameter identification results of friction model

参数	数值	参数	数值
σ₀/(N·m·rad^-1)	1464.4	M_fs/(N·m)	4.0
σ₁/(N·m·s·rad^-1)	0.5	θ_s/(rad·s^-1)	13.0
σ₂/(N·m·s·rad^-1)	0.2	n	0.6
M_fc/(N·m)	40.9073

图4 支反力矩辨识

Fig.4 Identification curve of balance torque

图5 误差函数收敛过程

Fig.5 Convergence process of error function

图6 弹药传输机械臂实验台架

Fig.6 Experiment platform of ammunition transfer manipulator

图7 弹药传输机械臂系统控制框架

Fig.7 Control frame of ammunitiontransfer manipulator system

表2 系统相关参数值

Table 2 Values of system parameters

参数	数值	参数	数值
m_a/kg	2.95	η_e	0.9
l_a/m	0.38	$\theta_{\mathrm{b}} /(\circ)$	0
i_a/(kg·m²)	0.1746	S/m²	7.85×10^-5
K_T/(mN·m·A^-1)	38.5	V₀/m³	4.57×10^-5
η_r	690	g/(m·s^-2)	9.8

图8 无负载工况下机械臂运动响应

Fig.8 Motion response of transfer manipulator under no-load conditions

图9 0.44kg负载工况下机械臂运动响应

Fig.9 Motion response of transfer manipulator under 0.44kg load condition

图10 0.88kg负载工况下机械臂运动响应

Fig.10 Motion response of transfer manipulator under 0.88kg load condition

图11 无补偿下机械臂运动响应

Fig.11 Motion response of transfer manipulator without compensation

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