一种两自由度飞行机械臂系统的设计与实现

何慰; 方勇纯; 梁潇; 张鹏

doi:10.7527/S1000-6893.2020.24280

航空学报 >

2021 , Vol. 42 >Issue 2: 324280 - 324280

DOI: https://doi.org/10.7527/S1000-6893.2020.24280

电子电气工程与控制

一种两自由度飞行机械臂系统的设计与实现

何慰 ,
方勇纯 ,
梁潇 ,
张鹏

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1. 南开大学机器人与信息自动化研究所, 天津 300350;
2. 天津市智能机器人技术重点实验室, 天津 300350

收稿日期: 2020-05-24

修回日期: 2020-06-01

网络出版日期: 2020-06-24

基金资助

国家自然科学基金（61873132，61903200）；天津市自然科学基金（19JCQNJC03500）

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Design and implementation of a 2-DOF aerial manipulation system

HE Wei ,
FANG Yongchun ,
LIANG Xiao ,
ZHANG Peng

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1. Institute of Robotics and Automatic Information System, Nankai University, Tianjin 300350, China;
2. Tianjin Key Laboratory of Intelligent Robotics, Tianjin 300350, China

Received date: 2020-05-24

Revised date: 2020-06-01

Online published: 2020-06-24

Supported by

National Natural Science Foundation of China (61873132, 61903200); Natural Science Foundation of Tianjin (19JCQNJC03500)

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摘要

提出了一种基于欧拉-拉格朗日方法的飞行机械臂系统模型，在机械臂缓慢运动的合理假设下，模型不仅能有效描述实际系统，同时模型表达得到了精简。在此基础上进行控制器设计，首先使用输出变换将系统反馈线性化，并将内外环动态分离，基于此分别设计外环滑模控制器和内环比例-积分-微分（PID）控制器。该控制器在仿真实验中能有效抑制机械臂带来的扰动且镇定和轨迹跟踪性能明显优于经典的串级比例-积分-微分控制器。结果表明本文提出的建模和控制方法能够有效补偿机械臂的已建模扰动，并能充分抑制机械臂摆动产生的未建模扰动，且控制器计算复杂度适中，能够满足实际应用需求。

关键词： 无人机; 机械臂; 动力学建模; 非线性控制; 运动控制

本文引用格式

何慰 , 方勇纯 , 梁潇 , 张鹏 . 一种两自由度飞行机械臂系统的设计与实现[J]. 航空学报, 2021 , 42(2) : 324280 -324280 . DOI: 10.7527/S1000-6893.2020.24280

Abstract

A dynamic model of the aerial manipulation system based on the Euler-Lagrange method is firstly presented. Under the assumption that the joint angles of the robotic arm change slowly, the model is simplified while still reasonable and adequate to represent the real situation. A hierarchical inner-outer loop based decoupled controller is designed after feedback linearization. Then a sliding mode controller and a Proportion-Integral-Differential (PID) controller are designed for the inner and outer loops respectively. Simulation experiments show that the proposed method performs significantly better than the classical hierarchical proportion-integral-differential controller in the tasks of regulation and trajectory tracking with the presence of disturbances caused by the robotic arm. It can be concluded that the modeling and control method can effectively reject the modeled and unmodeled disturbances from the arm, and that the computing complexity of the controller is low enough for practical applications.

Key words： unmanned aerial vehicles; manipulators; dynamic modeling; nonlinear control; motion control

参考文献

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