基于期望关节角补偿的车载液压刚柔机械臂建模及轨迹跟踪控制

Modeling and trajectory tracking control of vehicle hydraulic rigid-flexible manipulator based on the expected joint angle compensation

采用拉格朗日原理和假设模态法,通过引入驱动Jacobian矩阵,推导出液压刚柔机械臂动力学方程。针对柔性臂的特点,提出了关节角补偿方法。为了克服参数扰动和外界干扰,利用自适应律估计不确定性项提出了同时控制刚体运动和振动抑制的自适应滑模控制方法。最后,通过数值仿真验证了所提方法的有效性。

First, by introducing a driven Jacobi matrix, the dynamic equations of the hydraulic rigid- flexible manipulator were derived using Lagrange principle and the assumed mode method. Then, a joint angel compensation algorithm was proposed by considering the eharacteristics of flexible arm. In order to weaken the effect of parameter perturbation and external interference, an adaptive sliding model controller was developed to simultaneously control the rigid motion and suppress vibration with uncertainties estimated by the adaptive law. Simulation results were presented to demonstrate the effectiveness of the proposed approach.