基于干扰观测器的级联气动肌肉肘关节滑模控制

doi:10.3969/j.issn.1000-1093.2017.04.022

兵工学报 ›› 2017, Vol. 38 ›› Issue (4): 793-801.doi: 10.3969/j.issn.1000-1093.2017.04.022

基于干扰观测器的级联气动肌肉肘关节滑模控制

王斌锐，沈国阳，金英连，王凌

（中国计量大学机电工程学院，浙江杭州 310018）

收稿日期:2016-10-18 修回日期:2016-10-18 上线日期:2017-06-06
作者简介:王斌锐(1978—), 男, 教授，硕士生导师。E-mail: wangbrpaper@163.com
基金资助:
国家“863”计划项目（2015AA042302）；国家自然科学基金项目（51575503）；浙江省自然科学基金项目（LY14F030021）

Sliding Mode Control of Cascade Pneumatic Muscles of Elbow Joint Based on Disturbance Observer

WANG Bin-rui， SHEN Guo-yang， JIN Ying-lian， WANG Ling

（College of Mechanical and Electrical Engineering, China Jiliang University, Hangzhou 310018, Zhejiang, China）

Received:2016-10-18 Revised:2016-10-18 Online:2017-06-06

摘要/Abstract

摘要： 肘关节的设计和控制是仿人手臂的研究重点。为了得到肘关节的模型，首先搭建测试平台对单根气动肌肉进行静态建模，再建立级联式肘关节的名义模型，采用最小二乘参数辨识得到模型的参数。基于Luenberger干扰观测器设计了滑模控制律。分别采用PID控制、滑模控制和基于干扰观测器的滑模控制对肘关节位置跟踪进行仿真和实验，在仿人手臂末端夹持半瓶矿泉水作为负载和外界不确定性干扰，测试3种控制算法的性能。仿真和实验结果表明，基于干扰观测器的滑模控制位置跟踪精度和鲁棒性均优于滑模控制和PID控制。

关键词: 控制科学与技术, 气动肌肉, 肘关节, 滑模控制, 干扰观测器

Abstract: The design and control of elbow joint are the research priorities of humanoid arm. To obtain the elbow joint model, a test platform is constructed for static modeling of a single pneumatic muscle,and then a nominal model of cascade elbow joint is established. The least square parameter identification is used to obtain the parameters of model. A sliding mode control law is designed based on Luenberger disturbance observer. The elbow joint location tracking with proportion integration differentiation (PID) control, sliding mode control (SMC) and sliding mode control based on disturbance observer (SMCDO) are simulated. Three control algorithms are tested by taking half a bottle of mineral water held at the end of humanoid arm as a load and uncertain outside disturbance. The simulated and experimental results show that the location tracking accuracy and robustness of sliding mode control based on disturbance observer are better than those of sliding mode control and PID control. Key

Key words: controlscienceandtechnology, pneumaticmuscle, elbowjoint, slidingmodecontrol, disturbanceobserver

中图分类号:

TP241.3

王斌锐，沈国阳，金英连，王凌. 基于干扰观测器的级联气动肌肉肘关节滑模控制[J]. 兵工学报, 2017, 38(4): 793-801.

WANG Bin-rui， SHEN Guo-yang， JIN Ying-lian， WANG Ling. Sliding Mode Control of Cascade Pneumatic Muscles of Elbow Joint Based on Disturbance Observer[J]. Acta Armamentarii, 2017, 38(4): 793-801.

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基于干扰观测器的级联气动肌肉肘关节滑模控制

Sliding Mode Control of Cascade Pneumatic Muscles of Elbow Joint Based on Disturbance Observer

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