摘要
本文应用滑模变结构理论,设计了一种应用于弹性手臂伺服系统的控制方法——四段式滑模加PI 复合控制方法.在电机最大力矩和速度受到限止情况下,通过滑模开关曲线选择,实现了响应时间最优.同时,为了消除系统的“颤抖”,当系统位置误度小于一定值时,用PI 控制代替滑模控制.实验结果表明,应用这种控制方法,系统的鲁棒性、响应时间和静态精度都有所提高.
Because the robot's inertia moment changes with the arm's lengthand load weight,insensitivity to the parametric variations and disturbancesis important in developing the robotic arm.In this paper,by appling thetheory of sliding mode control,a new hybrid control method is proposed tocontrol the servo system of a flexible robotic arm.The sliding curve isselected so as to realize the time-optimal control under the restriction ofmaximum permissible motor torcue and speed.Moreover,a PI control is usedinstead of sliding mode control when the position error is smaller thana given value so as to eliminate chattering.Experimental results have shownthat it is an effective method of improving the system's robustness,responsetime and steady-state error.
出处
《上海交通大学学报》
EI
CAS
CSCD
北大核心
1991年第3期67-75,共9页
Journal of Shanghai Jiaotong University
基金
863课题基金
关键词
机器人
弹性手臂
滑模控制
flexible robotic arm
robot
sliding mode control
variable structure control
