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本文提出在机器人交流伺服系统中采用轨迹跟踪的滑模控制算法,同时提出消除滑模控制中的高频振荡的方法和节省控制能量的观点,并对滑模带的边界做了讨论,也对消除静态误差提出了改进意见,最后对系统反馈环节的滞后因素对滑模控制的影响做了分析,通过大量的仿真数据,证明这种方法可使系统具有快速性、静态误差小、对系统参数变化和各种外扰的鲁棒性好等优点,同时也提高了机器人驱动系统的可靠性。
In this paper, the sliding mode control algorithm using trajectory tracking in robot AC servo system is put forward. At the same time, the method of eliminating high frequency oscillation in sliding mode control and the viewpoint of saving control energy are put forward. The boundary of sliding mode band is also discussed. Finally, the influence of the lag factor on the sliding mode control in the feedback loop of the system is analyzed. Through a large number of simulation data, it is proved that this method can make the system fast, the static error is small, and the system parameters Changes and various external disturbances have good robustness and other advantages, but also improve the reliability of the robot drive system.