关节驱动柔性臂非最小相位系统的全局终端滑模控制.docVIP

  关节驱动柔性臂非最小相位系统的 全局终端滑模控制# 褚明，贾庆轩，邓夏，黄飞杰* 5 10 15 20 25 30 35 40 （北京邮电大学自动化学院，北京 100876） 摘要：研究关节驱动柔性臂这一非最小相位系统的点对点定位与振动抑制问题。基于闭环动 力学原理，将伺服反馈约束理论与 Rayleigh-Ritz 法相结合，建立耦合关节控制器动力特性 的柔性臂振动偏微分方程，由此证明柔性臂实现点对点定位的同时进行振动抑制的可行性。 采用微分几何输入/输出线性化方法重新定义观测输出，在新坐标系下将原系统分解为输入/ 输出子系统和内部子系统，并导出零动力学方程。设计一种全局终端滑模控制器，不仅使输 入/输出子系统在有限时间内快速收敛至零，而且避免了常规滑模控制的抖振问题，利用极 点配置法设计零动态子系统的控制器参数使整个系统 Lyapunov 稳定，通过数值仿真验证了 所设计控制策略的有效性。最后，设计并建立实验平台，实验结果表明仅以关节处的驱动电 机为作动器可同时实现柔性臂系统的点对点定位与快速振动抑制。 关键词：柔性臂；伺服反馈约束；非最小相位；输入/输出线性化；全局终端滑模控制 中图分类号：TP242 Global Terminal Sliding Mode Control for Joint-Drive Flexible Arm Nonminimum Phase System CHU Ming, JIA Qingxuan, DENG Xia, HUANG Feijie (School of Automation, Beijing University of Posts and Telecommunications, Beijing 100876) Abstract: The problem of point to point positioning and simultaneously vibration suppression for the joint-driven flexible-arm system is researched. Based on the closed-loop dynamics, the servo-feedback constraints theory and Rayleigh-Ritz method are combined to model the flexible-arm vibration partial differential equation including joint controller effects, and then the feasibility of the proposed issue is proved. The system output is redefined by the differential geometry input/output linearization method to decompose the original system into two parts, namely input/output subsystem and internal subsystem, and the zero-dynamics equation is derived accordingly. A global terminal sliding mode control strategy is proposed to make the input/output subsystem states attenuate to zero in limited time, while the inherent chattering existing in conventional sliding mode control is eliminated significantly. Moreover, the global system can be Lyapunov asymptotical stable by selecting zero-dynamics subsystem controller parameters by using the pole assignment method. The numerical simulations and experimental results confirm the validity of proposed control strategy, which is realized by using only the joint motor. Keywords: Flexible-arm; Servo