计算机工程与应用
計算機工程與應用
계산궤공정여응용
COMPUTER ENGINEERING AND APPLICATIONS
2015年
9期
52-56,81
,共6页
机器人%滑模控制%自适应模糊控制%抖振%速度跳变
機器人%滑模控製%自適應模糊控製%抖振%速度跳變
궤기인%활모공제%자괄응모호공제%두진%속도도변
robot%sliding mode control%adaptive fuzzy control%chattering%speed jump
提出了一种串联机器人的改进控制算法。采用一自适应模糊控制器,根据滑模到达条件对滑模切换增益进行估算,消除滑模控制中输出力矩的抖振现象,增强其对不确定性因素的适应能力。采用另一自适应模糊控制器对指数趋近律系数进行修正,改善由于大范围初始位姿产生的偏差而引起的大力矩和速度跳变问题。该方法无需确定被控对象的具体数学模型,具有强鲁棒性和高跟踪精度。基于Lyapunov方法进行了稳定性证明,保证控制系统的稳定性与收敛性。实验结果表明,该方法应用于串联机器人,跟踪效果良好并产生了平滑的力矩输出和速度输出。
提齣瞭一種串聯機器人的改進控製算法。採用一自適應模糊控製器,根據滑模到達條件對滑模切換增益進行估算,消除滑模控製中輸齣力矩的抖振現象,增彊其對不確定性因素的適應能力。採用另一自適應模糊控製器對指數趨近律繫數進行脩正,改善由于大範圍初始位姿產生的偏差而引起的大力矩和速度跳變問題。該方法無需確定被控對象的具體數學模型,具有彊魯棒性和高跟蹤精度。基于Lyapunov方法進行瞭穩定性證明,保證控製繫統的穩定性與收斂性。實驗結果錶明,該方法應用于串聯機器人,跟蹤效果良好併產生瞭平滑的力矩輸齣和速度輸齣。
제출료일충천련궤기인적개진공제산법。채용일자괄응모호공제기,근거활모도체조건대활모절환증익진행고산,소제활모공제중수출력구적두진현상,증강기대불학정성인소적괄응능력。채용령일자괄응모호공제기대지수추근률계수진행수정,개선유우대범위초시위자산생적편차이인기적대력구화속도도변문제。해방법무수학정피공대상적구체수학모형,구유강로봉성화고근종정도。기우Lyapunov방법진행료은정성증명,보증공제계통적은정성여수렴성。실험결과표명,해방법응용우천련궤기인,근종효과량호병산생료평활적력구수출화속도수출。
An improved algorithm of the serial robots control is proposed. An adaptive fuzzy controller is used to estimate the sliding mode switch gain according to its reaching conditions , eliminating the chattering of output torque in sliding mode control and enhancing its adaptive ability to uncertainties.And another adaptive fuzzy controller is utilized to amend exponential reaching law coefficient, also to improve big torque and speed jump problem caused by a wide range of initial position deviation. It doesn’t need to know specific mathematical model of controlled object, and has strong robustness and high tracking precision. The stability is proved in the design process based on the method of Lyapunov, guaranteeing the stability and convergence of the control system. Experimental results show that this method applied to serial robots, has a good tracking effect and smooth outputs of torque and speed.