6自由度液压机器人的自抗扰控制

为提高6自由度液压机器人电液驱动系统的控制性能,针对电液位置伺服系统的非线性和不确定性,建立了6自由度液压机器人后臂电液位置伺服系统的数学模型,提出了3阶自抗扰控制方案,通过对系统内扰和外扰进行估计和补偿,实现对位置的控制。仿真结果表明,所设计的自抗扰控制器不仅能满足系统对快速性和准确性的要求,而且还能有效抑制负载突变或未知扰动对系统性能的影响,与传统PID控制相比,其具有更强地鲁棒性和抗扰动能力,能满足6自由度液压机器人控制系统动态性能的基本要求。

Automatic Disturbance Rejection Control of 6-DOF Hydraulic Robot

For improving the electric hydraulic drive system of six degrees of freedom hydraulic robot control performance,in view of the electro-hydraulic position servo system is nonlinear and uncertainty,six degrees of freedom hydraulic robot arm is established the mathematical model of electro-hydraulic position servo system,third order since the immunity control scheme was proposed,based on the system disturbance and outside disturbance estimation and compensation,the control system for the position.The simulation results show that the design(ADRC)can not only meet the requirements of system for the quickness and accuracy,but also can effectively restrain the load mutation or unknown disturbance effect the performance of the system,compared with the traditional PID control,it has stronger robustness and ability to resist disturbance,six degrees of freedom hydraulic robot control system can meet the basic requirements of dynamic performance.