具有自适应参数的 5-DOF 混合机器人滑模控制。

IF 2.6 4区 综合性期刊 Q2 MULTIDISCIPLINARY SCIENCES
Yanqin Zhao, Mingkun Wu, Jiangping Mei, Wen Zhao, Yan Jin
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引用次数: 0

摘要

由于混合动力机器人具有高刚度、高精度、高负载能力和大工作空间等优点,因此适用于钻孔和铣削尺寸较大的复杂部件,例如汽车面板。但是,由于难以建立精确的动态模型和外部干扰会直接影响高精度控制,从而降低加工精度,进而影响系统的加工质量和效率。滑模控制是一种有效的高阶非线性动态系统控制方法,因为它对干扰和参数变化非常不敏感。然而,在参数固定的传统滑模控制中,由于接近速度恒定,可能会出现颤振。此外,接近速度会直接影响颤振强度。为了解决这些问题,本文提出了一种具有自适应参数的改进型滑模控制器,以提高五自由度混合机器人的轨迹跟踪性能。首先,建立机器人的运动学模型。然后采用虚拟工作原理,建立机器人的刚性动态模型。基于建立的动态模型,开发了一种改进的滑模控制方法,其中接近速度取决于系统状态。最后,为混合机器人创建了具有自适应参数的滑模控制器。所提出的滑模控制器可以实现快速接近速度,并同时抑制颤振。仿真结果表明,所提出的改进型滑动模态控制器可以获得相对精确和平滑的轨迹,对外部干扰具有良好的鲁棒性。
本文章由计算机程序翻译,如有差异,请以英文原文为准。
Sliding mode control with self-adaptive parameters of a 5-DOF hybrid robot.

Due to the advantages of high stiffness, high precision, high load capacity and large workspace, hybrid robots are applicable to drilling and milling of complicated components with large sizes, for instance car panels. However, the difficulty in establishing an exact dynamic model and external disturbances affect the high accuracy control directly, which will decrease the machining accuracy and thereby affect the machining quality and efficiency of the system. Sliding mode control is an effective approach for high-order nonlinear dynamic systems since that it is very insensitive to disturbances and parameter variations. However, chattering may exist in traditional sliding mode control with fixed parameters, which results from a constant approaching speed. Besides, the approaching speed will affect the chattering strength directly. To solve these problems, a modified sliding mode controller with self-adaptive parameters is proposed to enhance the trajectory-tracking performance of a 5-degree-of-freedom hybrid robot. Firstly, the kinematic model of the robot is established. Then adopting the principle of virtual work, a rigid dynamic model of the robot is built. Based on the built dynamic model, a modified sliding mode control method is developed, of which the approaching speed is dependent on the system state. Finally, the sliding mode controller with self-adaptive parameters is created for a hybrid robot. The proposed sliding mode controller can achieve a rapid approaching speed and suppress chattering simultaneously. Simulation results demonstrate that the proposed modified sliding mode controller can achieve a comparatively accurate and smooth trajectory, which owns good robustness to external disturbances.

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来源期刊
Science Progress
Science Progress Multidisciplinary-Multidisciplinary
CiteScore
3.80
自引率
0.00%
发文量
119
期刊介绍: Science Progress has for over 100 years been a highly regarded review publication in science, technology and medicine. Its objective is to excite the readers'' interest in areas with which they may not be fully familiar but which could facilitate their interest, or even activity, in a cognate field.
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