摘要
针对滑模控制的机械臂轨迹跟踪中存在收敛速度慢和系统抖振问题,为进一步提高机械臂控制的动态性能,通过分析两种类型趋近律的优缺点,设计了一种能够在提升收敛速度的同时对系统抖振进行有效控制并提高系统鲁棒性的改进型滑模趋近律。以二关节串联机械臂为控制对象,使用仿真工具Simulink进行仿真实验。仿真结果表明,该改进型趋近律可以缩短收敛时间,能够对系统抖振进行有效控制,验证了该改进型趋近律的可行性与有效性。
There are the problems of slow convergence speed and system chattering in the trajectory tracking of the manipulator with sliding mode control.In order to improve the dynamic performance of manipulator control,the advantages and disadvantages of two types of reaching laws are analyzed,and an improved sliding mode reaching law is designed in this paper.The improved reaching law can effectively control the system chattering and improve the robustness of the system while improving the convergence speed.Taking a two-joint series manipulator as the control object,the simulation experiment is carried out by using the simulation tool Simulink.The simulation results show that the improved reaching law can shorten the convergence time and effectively control the system chattering,which verifies the feasibility and effectiveness of the improved reaching law.
作者
赵凯旋
王树波
李冬伍
ZHAO Kai-xuan;WANG Shu-bo;LI Dong-wu(Shandong Key Laboratory of Industrial Control Technology,School of Automation,Qingdao University,Qingdao 266071,China;Beijing Institute of Radio Measurement,Beijing 100854,China)
出处
《控制工程》
CSCD
北大核心
2022年第12期2221-2226,共6页
Control Engineering of China
基金
国家高技术研究发展计划资助项目(2014AA110501)。
关键词
机械臂
滑模控制
趋近律
抖振
Manipulator
sliding mode control
reaching law
chattering
