基于观测器的机械臂协调操作柔性负载的控制

Control of two manipulators handling a flexible payload based on observer

为解决机械臂协调操作柔性负载状态不完全可测的问题,基于输出反馈研究了系统的控制。针对机械臂协调操作柔性负载驱动数小于自由度数,采用奇异摄动理论把协调系统降阶为快慢两个子系统。通过机械臂末端与负载接触点的部分信息和负载物理特性,建立了系统柔性坐标之间的关系,设计了观测器。通过系统特性把观测器系统误差方程转换为状态矩阵方程的形式,根据矩阵特征值的特点设计观测器参数,并把这一思想用到观测器-控制器系统的稳定性证明中。仿真结果证明了观测器和控制器的有效性。

To solve the problem that the state of flexible payload handling is not completely measurable, the control of manipulators handling a flexible payload based on output feedback is studied. The cooperative system is decoupled into a quiek subsystem and a slow subsystem by singular perturbation theory because that the inputs are less than the degrees of freedom. The relations between the vibration states of the system are established using the information of points between the ends manipulators and the flexible payload and the characteristics of the flexible payload, and the observer is designed. The error equation of the observer is transformed into state matrix according to the characteristics of the system. The parameters of the observer are designed using the eigenvalues of the matrix, and this idea is used to prove the stability of the system. Simulation results validate the designed observer and controller.