Aiming at the mismatched disturbance problem caused by the jet reaction force at the end of the rust removal sandblasting parallel mechanism,a nonlinear Active disturbance rejection control method of the rust removal sandblasting parallel mechanism was proposed.Firstly,the kinematics of the parallel mechanism was analyzed by the analytical method,and the dynamic model of the parallel mechanism considering the mismatched disturbance was established by the Lagrange method.By applying equivalent input disturbance technique,the mismatched disturbance of the system was converted to the matched disturbance located in the control input channel,and the total disturbances of the system was aggregated with modeling error,joint friction force and external disturbance.The nonlinear extended state observer was designed to estimate and compensate the lumped disturbance accurately in real time.The active disturbance rejection control based on the extended state observer was further designed to enhance the robustness of the system to lumped disturbance and improve its trajectory tracking control performance.Finally,the stability of the closed-loop system was proved,and based on MATLAB software and the prototype of the parallel mechanism with jet reaction force for rust removal sandblasting,the proposed control method was simulated and tested.The experimental results verify the effectiveness of the proposed method.
关键词
喷砂除锈并联机构/射流反作用力/非匹配干扰/等效输入干扰技术/非线性自抗扰控制
Key words
rust removal sandblasting parallel mechanism/jet reaction force/mismatched disturbance/equivalent input disturbance technique/nonlinear active disturbance rejection control
维普
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