计算机工程与应用
計算機工程與應用
계산궤공정여응용
COMPUTER ENGINEERING AND APPLICATIONS
2013年
22期
241-243,270
,共4页
不确定性%机械手%鲁棒控制%起止加速度
不確定性%機械手%魯棒控製%起止加速度
불학정성%궤계수%로봉공제%기지가속도
uncertainty%manipulator%robust control%start-stop acceleration
在机械手的点到点运动中,起始加速度和终止加速度过大都会导致较大的瞬时控制力矩,易对机械手造成损伤同时使系统不稳定。针对这个问题并考虑机械手系统的非参数不确定性,提出了合理的解决方案。首先选择了一种零起始和零终止加速度的期望轨迹曲线,基于跟踪误差设计滑模函数,同时设计PI控制器和反演控制器,最后证明了闭环系统的稳定性。利用二自由度机械手模型进行仿真实验,仿真结果证明了该方法的正确性和有效性。
在機械手的點到點運動中,起始加速度和終止加速度過大都會導緻較大的瞬時控製力矩,易對機械手造成損傷同時使繫統不穩定。針對這箇問題併攷慮機械手繫統的非參數不確定性,提齣瞭閤理的解決方案。首先選擇瞭一種零起始和零終止加速度的期望軌跡麯線,基于跟蹤誤差設計滑模函數,同時設計PI控製器和反縯控製器,最後證明瞭閉環繫統的穩定性。利用二自由度機械手模型進行倣真實驗,倣真結果證明瞭該方法的正確性和有效性。
재궤계수적점도점운동중,기시가속도화종지가속도과대도회도치교대적순시공제력구,역대궤계수조성손상동시사계통불은정。침대저개문제병고필궤계수계통적비삼수불학정성,제출료합리적해결방안。수선선택료일충령기시화령종지가속도적기망궤적곡선,기우근종오차설계활모함수,동시설계PI공제기화반연공제기,최후증명료폐배계통적은정성。이용이자유도궤계수모형진행방진실험,방진결과증명료해방법적정학성화유효성。
In the point to point motion of manipulator, oversize start-stop acceleration result in huge instantaneous control torque, therefore the manipulator is easily harmed and makes the system unstable. Reasonable solutions are proposed for this problem and uncertainties of manipulator. A desired trajectory curve of which the acceleration is zero both at start point and stop point is chose. Sliding mode function is designed based on tracking error, at the same time, the PI controller and backstepping controller is designed. The stability of closed-loop system is proved. The simulation experiment is conducted using 2-DOF manipulator, the correctness and effectiveness of proposed control approach is demonstrated by simulation results.