船体除锈机械手的干扰抑制轨迹跟踪控制

摘要

船体外壁除锈喷漆过程中需要控制机械手臂的变幅和伸缩油缸协调动作,以保证机械手臂末端在垂直轨迹方向上的匀速直线运动.针对运动过程中存在的机械手臂的柔性变形不确定性等干扰以及比例阀油缸系统内部状态量的不可测性,运用Lyapunov稳定性理论设计了基于降维观测器的干扰抑制轨迹跟踪控制器,并将所设计控制器对干扰的鲁棒性与传统PID控制进行了仿真对比.同时,应用所设计的控制算法对样机进行了相关测试,验证了所设计的控制器对机械臂外部干扰的抑制作用.%During derusting and paint-spray periods,the luffing and telescopic cylinders of the manipulator should be managed to coordinate actions,and the internal and external uncertainties acting on the system should be overcome so as to ensure the manipulator movement as uniform speed in the vertical direction.In view of uncertain disturbances existing in the deflections while the manipulator moving and unmeasured internal state variables of proportional valve cylinder system,a reduced-order observer-based trajectory tracking controller with disturbance attenuation was designed by utilizing Lyapunov stability theory.The robustness of the designed controller to disturbance was verified by comparing with the traditional PID controllers in the simulation environments.Meanwhile,the proposed control algorithm was applied to mechanical engineerings.The results show the attenuations on the external disturbances of the manipulators.