二自由度SCARA机器人位置的端口受控哈密顿与反步法协调控制

摘要

针对二自由度SCARA机器人系统使用单一控制方法难以实现快速、精准的位置跟踪控制的问题,设计了基于端口受控哈密顿(PCH)与反步法的协调控制.PCH用于保证系统稳态性能,反步法用于保证系统快速性.采用指数函数作为协调函数以实现协调控制策略,从而适应二自由度SCARA机器人的轨迹跟踪控制.该SCARA机器人系统,既能够实现系统快速的跟踪位置信号,又能够提高系统的输出信号的稳态性能.仿真实验表明,当存在干扰时,采用PCH与反步法的协调控制的二自由度SCARA机器人位置跟踪系统能够有效地结合两者的优点,系统的动态性能和稳态性能优良,且能够很好地抵抗外部干扰.%In order to solve the problem of unsatisfactory position tracking performance of 2-DOF SCARA robot controlled by only a single control method,a hybrid coordinated control method based on port-controlled Hamil tonian (PCH) and backstepping is designed.PCH control is used to make the system have good stability,and backstepping control is used to improve the response speed of the system.Exponential function is used as coordination function to achieve the coordinated control strategy,so as to adapt to the position tracking control of 2-DOF SCARA robot.This SCARA robot system can not only quickly track the position signal,but also improve the steady-state performance of output signal.The simulation results show that when the external interference is existed in the mechanical system of 2-DOF SCARA robot,the hybrid tracking control system takes on both advantages of the two methods,which has good dynamic and steady-state performances and can well resist to external interference.