【摘 要】
：
针对在野外环境下,地形变化以及移动机器人的重心位置变化都会影响机器人载荷分布,从而使滑转率控制精度下降的问题,提出了考虑载荷分布的滑转率自适应滑模控制.首先,考虑地
【机 构】
：
河北工业大学机械工程学院,山东理工大学电气与电子工程学院,
论文部分内容阅读
针对在野外环境下,地形变化以及移动机器人的重心位置变化都会影响机器人载荷分布,从而使滑转率控制精度下降的问题,提出了考虑载荷分布的滑转率自适应滑模控制.首先,考虑地形及重心位置的影响,通过空间力系关系建立机器人载荷分布的具体表达.其次,在滑转率控制中,采用带积分的滑模面以避免滑模控制的抖振影响;并且切换增益采用自适应调节规律以减弱不确定因素的影响.最后,由仿真结果说明控制方法的有效性.
Aiming at the problem that the change of gravity and position of center of gravity of mobile robot will affect the distribution of robot’s load in the wild, and the control accuracy of slip rate will decrease, the sliding mode adaptive sliding mode control considering load distribution is proposed.Firstly, Topography and center of gravity, the concrete expression of robot’s load distribution is established by the relation of space forces.Secondly, in the slew rate control, sliding surface with integral is used to avoid the chattering effect of sliding mode control, and the switching gain is Adaptive regulation rules to reduce the impact of uncertainties.Finally, the simulation results show the effectiveness of the control method.
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