论文部分内容阅读
以一种平面二自由度并联机构为研究对象,以该机构的高精度轨迹跟踪运动控制为目标,建立了对象的运动学控制模型,并基于此模型设计出一种非线性幂次函数趋近律的离散自适应光滑滑模控制器。与机构在基于常规指数趋近律滑模控制算法下的直线轨迹跟踪控制效果进行了对比仿真实验。仿真结果表明,基于幂次函数的离散自适应光滑滑模控制算法能获得更好的位置与速度跟踪性能,仿真结果的各种指标分析进一步表明该控制算法达到了较好的高精度控制要求。
Taking a planar two-degree-of-freedom parallel mechanism as the research object and the high-precision trajectory tracking motion control of the mechanism as the goal, a kinematic control model of the object is established. Based on the model, a nonlinear power function approaches Discrete Adaptive Smooth Sliding Mode Controller. Compared with the mechanism of linear trajectory tracking control based on the generalized law sliding mode control algorithm of the conventional index, a comparative simulation experiment is carried out. The simulation results show that the discrete adaptive SMC based on power function can get better position and velocity tracking performance. The analysis of various indexes of the simulation results further shows that the control algorithm achieves better precision control requirements.