大负荷抢修作业机械臂误差拆分补偿控制方法设计
Design of Error Splitting Compensation Control Method for Robot Arm in Heavy Duty Emergency Repair Operations
张伟 1张景明 1窦金龙 1白永刚1
作者信息
- 1. 国网山东省电力公司东营供电公司,东营 257000
- 折叠
摘要
机械臂抢修作业中,受到大负荷的影响存在不可控柔性变形、空间约束参数不确定和滑模扰动等问题.为此,设计一种针对大负荷抢修作业机械臂的误差拆分补偿控制方法.将机械臂结构投影到二维平面,确定了机械臂大负荷下最大作业空间约束,引入拉格朗日方程,从机械臂动能、势能、广义力3个角度,对机械臂作业空间内的大负荷作业过程轨迹误差实施拆分.在笛卡尔空间内,设定前馈+PD控制器控制律,利用+PD控制器的误差补偿输出,实现抢修机械臂的误差差分补偿控制.实验表明,所提方法能够在高稳定性前提下,实现抢修机械臂的精准补偿控制.
Abstract
In the emergency repair operation of the robotic arm,there are problems such as uncontrollable flexible de-formation,uncertain spatial constraint parameters,and sliding mode disturbance due to the influence of large loads.To this end,design an error splitting compensation control method for heavy-duty repair operation robotic arms.The structure of the robotic arm was projected onto a two-dimensional plane,and the maximum operating space constraint of the robotic arm under high loads was determined.The Lagrangian equation was introduced to decompose the tra-jectory error of the high load operation process in the robotic arm operating space from three perspectives:kinetic energy,potential energy,and generalized force.In Cartesian space,a feedforward+PD controller control law is set,and the error compensation output of the+PD controller is utilized to achieve error differential compensation control of the emergency repair robotic arm.The experiment shows that the proposed method can achieve precise compensation control of the emergency repair robotic arm under high stability conditions.
关键词
大负荷机械臂/扰动问题/时延误差/法向同步误差/前馈+PD控制器/抢修作业Key words
high load robotic arm/disturbance problem/delay error/normal synchronization error/feedforward+PD con-troller/emergency repair work引用本文复制引用
出版年
2024
NETL
NSTL
万方数据