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利用传统PID和高阶滑模控制的优势,提出了高阶滑模和PI控制相结合的混合滑模控制算法,并应用于7DOF机械臂伺服电机的实时轨迹跟踪.伺服电机的混合滑模控制是在位置环和速度环采用高阶滑模-PI混合控制算法,电流环采用传统的PID控制算法.分析表明基于高阶混合滑模控制技术的7DOF机械臂伺服电机系统,能有效消除传统滑模控制中的抖振问题,增强了系统鲁棒性,并实现了快速的轨迹跟踪.最后,在一体式控制平台上实验验证了所提出的算法的有效性和实用性.
By using the advantages of traditional PID and high-order sliding mode control, a hybrid sliding mode control algorithm combining high-order sliding mode and PI control is proposed and applied to real-time trajectory tracking of 7DOF robotic servo motor. Hybrid sliding mode control Is a high-order sliding mode-PI hybrid control algorithm for position and velocity loops and a traditional PID control algorithm for current loops.The analysis shows that a 7DOF robotic servomotor system based on high-order hybrid sliding mode control technology can effectively eliminate the traditional slip The chattering problem in the model control enhances the robustness of the system and achieves a fast trajectory tracking.Finally, the experimental results show the effectiveness and practicability of the proposed algorithm on an integrated control platform.