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设计了移动焊接机械手的滑模变结构控制器。针对滑模变结构控制的收敛速度问题,提出了一种新的非线性滑模面。其次,针对滑模变结构控制所固有的抖振问题,讨论了其产生的原因,并提出了解决的办法,通过修正采样时间削弱抖振,设计系统的初始误差速度,使得系统的初始状态位于滑模面上,消除了滑模变结构控制的到达阶段,从而削弱传统滑模变结构控制所固有的抖振。最后,用于仿真两机械臂移动机械手的轨迹跟踪控制。结果表明,系统具有较快的收敛速度和较强的鲁棒性,大大削弱了控制系统的抖振,验证了该方案的有效性。
A sliding-mode variable structure controller for mobile welding manipulator is designed. Aiming at the problem of convergence speed of sliding mode variable structure control, a new nonlinear sliding mode surface is proposed. Secondly, aiming at the chattering problem inherent in sliding mode variable structure control, the reasons for the chattering are discussed, and some solutions to the chattering problem are proposed. The chaotic vibrations are corrected by correcting the sampling time, and the initial error speed of the system is designed so that the initial state of the system is On the sliding mode surface, the arrival phase of sliding mode control is eliminated, which weakens the inherent chattering of the traditional sliding mode control. Finally, it is used to simulate the trajectory tracking control of two robotic manipulators. The results show that the system has faster convergence speed and stronger robustness, greatly dampens the control system chattering, and verifies the effectiveness of the scheme.