Implicit Lyapunov Function-based Variable Gain Super-twisting Sliding Mode Control of an Ammunition Transfer Manipulator

doi:10.12382/bgxb.2023.0642

Abstract

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

CLC Number:

TJ303
TP241

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.

Figures/Tables 13

Fig.1 3D model of an ammunition transfer manipulator

Fig.2 Identification curve of friction torque

Fig.3 Convergence process of error function

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

Fig.4 Identification curve of balance torque

Fig.5 Convergence process of error function

Fig.6 Experiment platform of ammunition transfer manipulator

Fig.7 Control frame of ammunitiontransfer manipulator system

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

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

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

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

Fig.11 Motion response of transfer manipulator without compensation

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