考虑参数未知的柔性机械臂调节控制

薛晓强; 王小勇; 刘炜; 车剑; 申晓龙; 陈鹤

doi:10.3969/j.issn.0258-2724.20250270

考虑参数未知的柔性机械臂调节控制

doi: 10.3969/j.issn.0258-2724.20250270

薛晓强^1,,
王小勇¹,
刘炜²,
车剑²,
申晓龙²,
陈鹤^3, ,

1.
陕西小保当矿业有限公司，陕西神木 719302
2.
渭南陕煤启辰科技有限公司，陕西西安 71000
3.
河北工业大学人工智能与数据科学学院，天津 300401

基金项目: 国家自然科学基金（62373134）；京津冀基础研究合作专项（F2024202104）；天津市自然科学基金（24JCQNJC00690）

详细信息

作者简介:
薛晓强（1984—），男，高级工程师，研究方向为煤矿智能管理及生产，E-mail：xuexq85@163.com

通讯作者:
陈鹤（1992—），男，教授，研究方向为智能机器人控制，E-mail： chenh@hebut.edu.cn

中图分类号: TP241
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- 文章访问数: 2
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- 被引次数: 0
出版历程
- 收稿日期: 2025-05-16
- 修回日期: 2026-01-06
- 网络出版日期: 2026-11-02

Regulation Control of Flexible Manipulators with Unknown Parameters

1.
Shaanxi Xiaobaodang Mining Co., Ltd., Shenmu 719302, China
2.
Weinan Shaanxi Coal Qichen Technology Co., Ltd., Xi’an 71000, China
3.
School of Artificial Intelligence, Hebei University of Technology, Tianjin 300401, China

摘要

摘要:
随着工业自动化与智能制造的不断推进，柔性机械臂已广泛应用于航空航天和精密仪器制造等领域. 针对柔性机械臂在参数未知条件下的精确定位与振动抑制控制问题，本文提出了一种基于时延观测器（TDE）的滑模控制方法. 首先，分析系统的动力学特性并建立相应的动力学模型，在此基础上，设计了滑模控制器，并引入时延观测器估计系统中的未知动态；然后，为增强系统的控制性能，在控制律中引入负载偏转角抑制项，以有效减小柔性振动的影响；随后，对闭环系统进行严格的稳定性分析及证明系统状态变量的收敛性；最后，通过仿真试验验证本文所提方法的有效性. 研究结果表明，所提出的控制方法在实现系统精确定位的同时能够有效抑制柔性振动.
- 柔性机械臂 /
- 滑模控制 /
- 系统参数未知 /
- 时延观测器
Abstract:
With the rapid development of industrial automation and intelligent manufacturing, flexible manipulators have been widely used in the aerospace and precision instrument manufacturing industries. To address the challenges of achieving precise positioning and suppressing vibrations in flexible manipulators with unknown parameters, a sliding mode control method based on a time-delay estimator (TDE) is proposed. First, the dynamic characteristics of the system are analyzed and the dynamic model is established. On this basis, a sliding mode controller is designed, and the unknown system dynamics are estimated by using a time-delay estimator. Furthermore, to enhance the system’s control performance, a term for suppressing the load deflection angle is incorporated into the control law to effectively reduce the effects of flexible vibrations. Subsequently, a rigorous stability analysis of the closed-loop system is conducted, and the convergence of the system state variables is proved. Finally, simulation experiments were conducted to verify the effectiveness of the proposed method. The results show that the proposed control method can achieve accurate positioning while effectively suppressing flexible vibrations.
- flexible manipulator /
- sliding mode control /
- unknown system parameter /
- time-delay estimator

HTML全文

图 1 柔性机械臂示意

Figure 1. Illustration of flexible manipulator

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图 2 系统仿真整体框图

Figure 2. Overall simulation block diagram

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图 3 第一组所提方法仿真结果

Figure 3. Simulation results of proposed method for Group 1

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图 4 第一组文献[24]所提方法仿真结果

Figure 4. Simulation results of method proposed in Ref. [24] for Group 1

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图 5 第二组仿真结果

Figure 5. Simulation results for Group 2

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图 6 第三组仿真结果

Figure 6. Simulation results for Group 3

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