液压与气动2024，Vol.48Issue(6)：56-64,9.DOI:10.11832/j.issn.1000-4858.2024.06.007
气动3-UPU型机器人位姿控制
Pneumatic 3-UPU Type Robot Pose Control
摘要
Abstract
For pneumatic servo systems,the motion of the piston,parameter variations,and modeling uncertainties further increase the difficulty of high-precision position control.A third-order mathematical model is established for the pneumatic 3-UPU robot system to provide a roughly accurate reference model for control algorithms.An high-precision pose control algorithm based on auto-disturbance rejection controller(ADRC)is proposed,which combines nonlinear PID with a tracking differentiator to arrange a fast and smooth transition process.The leakage flow rate of the cylinder is utilized as a disturbance to design an extended state observer,constructing an ADRC controller suitable for high-precision pneumatic 3-UPU robots.Results show that the ADRC controller has strong robustness,with a steady-state control accuracy of approximately 0.45 mm and a dynamic(0.2 Hz)tracking root mean square error of less than 10.0 mm.关键词
位姿控制/自抗扰/3-UPU机器人/气动系统建模Key words
pose control/ADRC/3-UPU robot/pneumatic system modeling分类
机械制造引用本文复制引用
刘昱,陶春龙,吕佳洋,程杰..气动3-UPU型机器人位姿控制[J].液压与气动,2024,48(6):56-64,9.基金项目
国家自然科学基金(62273028) （62273028）
