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为了解决2自由度门式起重机器人系统的吊运轨迹精确跟踪控制和反晃动的有效消除,在建立其非线性动力学模型的基础上,详细分析其所呈现的微分平坦性,指出这种微分平坦性对精确轨迹的生成带来了很大的便利;接着分析了其前馈控制器和基于微分平坦性的反馈轨迹跟踪控制器,指出其具有微分平坦性的动力学系统是非线性的,故其所对应的状态方程是非线性的,但可通过状态变换实现无反馈精确线性化,从而得到一个完全能观完全能控的线性系统;若对该线性系统施加一个误差线性反馈器,就得到输出解耦的闭环系统,这样通过调整反馈增益可使吊具的轨迹误差实现全局渐近收敛;仿真结果验证了理论研究结论的正确性,同时表明吊具在低速运动时,摩擦对起重机器人系统的驱动力输入的影响不大。
In order to solve the problem of precise tracking control and anti-sloshing movement of 2-DOF gantry crane system, based on the establishment of its nonlinear dynamic model, the differential flatness presented by it is analyzed in detail. Differential flatness brings great convenience to the generation of accurate trajectories. Then, the feedforward controller and the feedback trajectory tracking controller based on the differential flatness are analyzed. The dynamic system with differential flatness is pointed out that it is non-linear, So the corresponding equation of state is non-linear, but can be linearized without feedback by state transformation, so as to obtain a completely observable and completely controllable linear system. If an error linear feedback is applied to the linear system, The output of the closed-loop system decoupling, so that by adjusting the feedback gain can make the spreader trajectory error to achieve global asymptotic convergence; simulation results verify the correctness of the theoretical findings, at the same time that the spreader at low speeds, friction on the lifting robot The impact of the system’s driving force input is small.