基于鲁棒观测器的七功能液压机械手肘关节输出反馈鲁棒自适应控制方法研究3..docxVIP

基于鲁棒观测器的七功能液压机械手肘关节输出反馈鲁棒自适应控制方法研究罗高生1，顾临怡1，陈家旺2（1 浙江大学流体动力与机电系统国家重点实验室，浙江省 杭州 310027）（2 浙江大学 海洋学院，浙江 杭州 310027）摘 要：针对伺服阀控制的、双螺旋副传动的七功能机械手肘关节存在液压系统强非线性、易受外界环境温度和压力变化引起的参数不确定性、外界未知强干扰和仅有位置和油液压力状态反馈的控制难题，提出了基于鲁棒观测器的输出反馈鲁棒自适应控制方法。该方法利用Backstepping控制器设计方法对耦合的未知系统参数和未知状态进行解耦，结合鲁棒观测器控制技术和鲁棒自适应控制方法分别对未知状态和不确定参数进行观测和估计，使用Lyapunov稳定性理论保证了系统全局渐进稳定的控制性以及系统状态的有界性，解决了同时存在系统参数不确定性和部分未知状态耦合的鲁棒控制问题。以国家高科技发展计划4500米深海作业系统的七功能主从液压机械手肘关节作为研究对象，使用本文所提出的控制方法进行在未知外界干扰下的对比研究。实验结果表明，闭环系统可以很好地跟踪参考轨迹，具有较强的鲁棒性，能获得令人满意的稳态精度和动态性能能；同时修正后的参数估计能够保证在外界未知干扰下估计参数的有界性。关键词：液压系统；双螺旋副传动；鲁棒观测器；输出反馈鲁棒自适应控制； Backstepping控制图分类号： 文献标识码：Research on Robust Output Feedback Adaptive Control of 7-fun Hydraulic Manipulator Elbow Based on Robust ObserverLUO Gao-sheng, GU Lin-yi, CHEN Jia-Wang（The State Key Lab of Fluid Power Transmission and Control, Zhejiang University, Hangzhou 310027, China）(2 Ocean College, Zhejiang University, 310058, Hangzhou, PR China)Abstract：A robust output feedback adaptive control method based on robust observer is proposed based on the fact that the servo –valve controlled elbow joint of a 7-function hydraulic manipulator with double-screw-pair transmission has the control characteristics of strong nonlinearity of the hydraulic system, parametric uncertainties susceptible to temperature and pressure changes of the external environment, unknown external disturbances, and only position and pressure measurements. Utilized the design method of the Backstepping controller to decouple the unknown parameters and states, and combined with the robust estimator design and robust adaptive controller design method to estimate unknown parameters and unknown states, the globally asymptotic stability and boundedness of observer-controller system was guaranteed by using Lyapunov stability theory, and the robust problems of coupled unknown system parameters and states has been successfully solved. Using the elbow joint of the 7-function master-slave hydraulic manipulator for the 4500-m Deep-sea Working S