摘要
针对一种跟踪运动精度低、鲁棒性弱的新型智能滑模小车的轨迹跟踪运动控制问题,提出了基于新型变指数趋近律的小车轨迹跟踪运动控制器的研究方法。该方法在趋近律中加入了变指数幂次项,且能保证趋近律在限时间内稳定运行来限制抖振现象,使小车在趋近阶段中按不同趋近速度做自适应调节。通过对滑模小车的运动学模型进行坐标变换,建立小车轨迹面的跟踪收敛误差模型,接着根据Lyapunov稳定性理论和新型趋近律的跟踪全局有限性和时间收敛误差性建立滑模面,设计跟踪误差控制律。控制小车的线速度和角速度使轨迹跟踪误差迅速趋近到0,来实现其对给定期望轨迹的快速跟踪。最后采用MATLAB仿真软件进行系统控制特性的仿真研究,通过对比双幂次趋近律的滑模控制方法验证实验的有效性。
Aim to one locus tracing motion control problems of new type intelligent sliding mould wheelbarrow with low tracing motion precision and weak robustness,the research method of wheelbarrow locus tracing motion controller which based on new type variable index approach law was proposed out.This method added variable index power item in approach law,and could guarantee the approach law stable running in limit time to limit the vibrate appearance,made wheelbarrow process self adapt adjustment according to different approach speed in approach stage.The tracing convergence error model of wheelbarrow locus surface through coordinate shift of kinematics model of sliding mould wheelbarrow was built,then the sliding mould surface according to Lyapunov stability theory,tracing overall finiteness and time of new type approach law,design tracing error control law was built.Control the line speed and angle speed of wheelbarrow to make locus tracing error approach to 0 rapidly,to realize that quickly tracing of preset expired locus.Finally MATLAB imitate software was adopted to process imitate research of system control characteristics,the effectiveness of test was verified through contract double power approach law of sliding mould control method.
作者
李艳
孙蕊
LI Yan;SUN Rui(School of Electrical and Control Engineering,Shaanxi University of Science&Technology,Xi'an 710021,China;Shaanxi Agricultural Products Processing Technology Research Institute,Xi'an 710021,China)
出处
《科学技术与工程》
北大核心
2021年第35期15114-15122,共9页
Science Technology and Engineering
基金
陕西省科技厅重点研发计划(2018GY-042)
陕西省咸阳市重点研发计划(2020k02-16)。
关键词
智能滑模小车
新型变指数趋近律
滑模运动控制
轨迹跟踪
intelligent sliding mode trolley
new variable exponential approaching law
sliding mode motion control
trajectory tracking
