基于MATLAB_Simulink机器人鲁棒自适应控制系统仿真研究

187©Vol.18No.720067JournalofSystemSimulationJuly,2006•2022•MATLAB/Simulink110004MATLAB/SimulinkMatlabMatlabM-FunctionS-FunctionUser-Defined-FunctionSimulinkSimulinkM-FunctionSimMechanicsMatlab/SimulinkSimMechanicsTP391.9A1004-731X(2006)07-2022-04SimulationResearchofRobustAdaptiveControlSystemforRoboticManipulatorsBasedonMATLAB/SimulinkGAODao-xiang,XUEDing-y(KeyLaboratoryofProcessIndustryAutomation,MinistryofEducation,NortheastUniversity,Shenyang110004,China)Abstract:Asimulationmethodofrobustadaptivecontrolwasproposedfortheroboticmanipulatorsystem.ThemethodtooktheadvantageofthepowerfulcomputingfunctionofMatlabtoprogrammeM-function(orS-Function)forthesystemmodelbyMatlablanguageandembeddedittotheSimulinkbyUser-Defined-Functionmodule.TherealtimedynamicsimulatingfunctionofSimulinkwouldbeexertedadequatelyandthedesign,modificationandadjustofthesystemmodelcouldbegreatlysimplified.ThemethodofconstructingmanipulatorcontrolsystemmodelbasedonM-FunctioncouldbegeneralizedtotheothercomplicatedcontrolsystemandSimMechanicswouldmakethen-linksmanipulatormodelconvenientlyandcredibly.Keywords:roboticmanipulator;Matlab/Simulink;SimMechanics;simulation;robustadaptivecontrolMatlab/SimulinkSimulinkSimulinkMatlabM-FunctionS-FunctionUser-Defined-FunctionSimulinkSimulinkSimulinkSimulinkMatlabM-Function2005-05-092005-08-021972-1963-CADSimMechanicsnSimMechanics1nτ=++)(),()(qGqqqCqqM(1)qqq,,1×n)(qMnn×qqqC),(1×n)(qG1×nτ(1)187Vol.18No.720067MATLAB/SimulinkJuly,2006•2023•τ/qq,dddqqq,,1.1M-Fuctionnn[1][4]226814XYMatlab(3)),,(],,,,[1τqqfFFaaqyxyx=(4)qaxayXYFxFyXYM-Function(4)1[2]SimulinkMq21211M-Function1.2SimMechanicsSimMechanicsSimulinkSimMechenicsn(1)SimMechanics(2)(3)(4)SimMechanicsBody-Sensor2Simulink21212SimMechanics2(1)[5,6,7][9]187Vol.18No.720067July,2006•2024•21)ˆ)(,,,(uKsuqqqqYrr+−+=θτ(5)qqqdr~Λ−=qqqdr~Λ−=dqqq−=~=diag0][1nλλK=diag0][1nkk)(⋅Yθˆ11211ερρ+−=sYsYuTT,22222ερρ+−=ssu(6)qqs~~Λ+=21,ρρθ~dτ,0,21εε⎩⎨⎧Γ−=0ˆsYTθδδ≤||~||||~||qq(7)Γ=diag0][1mγγmδSimulink),,,,(ˆ2qqqqqfddd=θ(8)(2),)ˆ,,,,,(0θτqqqqqfddd=(9)3(1)⎥⎦⎤⎢⎣⎡++++=22322322321coscoscos2)(θθθθθθθθqqqqM⎥⎦⎤⎢⎣⎡−−=0sinsinsin2),(213223223qqqqqqqqCθθθ⎥⎦⎤⎢⎣⎡++++=)cos()cos(coscosg)(2162161514qqgqqgqgqqGθθθθ],,,,,[654321θθθθθθθ=22111121Imrmlθ=++22222Imrθ=+1223lrm=θ114rm=θ125lm=θ226rm=θg(4)(8)(9)M-FunctionSimulink3m1=10kgm2=5kgl1=l2=1mr1=r2=0.5mI1=5/6kgm2I2=5/12kgm2θ0=[8.33,1.67,2.5,5,5,2.5]q1d=sin(0.67t)+sin(0.3t)radq2d=sin(0.39t)+sin(0.5t)radq10=q20=1rad02010==qqrad/sK=diag(40,40)Λ=diag(5,5)ρ1=8ρ2=120.121==εε1Matlab7⎩⎨⎧=081dτπππ20≤≤tt⎩⎨⎧=052dτπππ20≤≤ttScopeDMux4u1u225m3187Vol.18No.720067MATLAB/SimulinkJuly,2006•2025•051015202530-0.0500.050.10.150.20.2505101520253002468θ1θ3θ4,θ5θ6θ241()2()5051015202530-600-400-2000200400600τ1τ2051015202530024683kg7kg1kg61274Matlab/SimulinkM-FunctionnSimMechanics[1]JohnFG[M]2002[2].MATLAB/Simulink[M].2002[3][M]2004[4]HaugEJ.Computer_AidedKinematicsandDynamicsofMechanicalSystem[M]EnglewoodCliffsNJPrenticeHall1989[5]SlotineJE,LiWCompositeadaptivecontrolofrobotmanipulators[J]Automatica,198925(4),509519[6]BerghuisH,RobbersHandNijmeijersH.Experimentcomparisonofparameterestimationmethodsinadaptiverobotcontrol[J].Automatica,199531(9)1275-1285.[7]OrtegaRSpongMWAdaptivemotioncontrolofrigidrobotsAtutorial[J]Automatica198925(6)877888[8]MathWorks.SimMechanicsforusewithsimulinkuser’sguide[Z]Version22002.[9]YuT.Terminalslidingmodecontrolforrigidrobots[J].Automatica,1998,34(1):51-56.