摘要
为了使机器人关节有良好的静态特性,并具有一定的抗干扰能力,提出了一种由力矩电机和谐波减速机组成的机器人关节,采用指数趋近律的滑模变结构和模糊自适应滑模控制对机器人关节进行了位置控制,通过对机器人单关节Simulink建模仿真比较,结果表明,模糊自适应滑模控制大大减轻了指数趋近律滑模控制的抖振问题,其稳态精度达到了9×10-5rad;且与PID控制相比较,其响应速度快;在受高斯扰动时,采用模糊自适应滑模控制的关节发生的角度偏差整整比PID控制小10倍。仿真结果表明,滑模控制在机器人关节控制中精度高,响应速度快,具有一定的鲁棒性能。
In order to make robot joints have good static characteristics and a certain anti-interference ability,the robot joint composed of a torque motor and a harmonics reducer was proposed.The sliding mode variable structure based on index reaching law and fuzzy adaptive sliding mode was used to position control.According to the Simulink simulation and comparison,the fuzzy adaptive sliding mode substantially was applied to elimate chattering on the robot joint,the steady-state accuracy reached 9×10-5 rad.Compared with the PID control,it had effect of fast response,when interfered by the signal of Gaussian,joint controlled by fuzzy adaptive sliding model had angle deviation which is 10 times smaller than that controlled by PID control.Simulation results show that the sliding mode control of robot joint controlled by the sliding mode control has the effect of high precision,fast response,a certain degree of robust performance.
出处
《机电工程》
CAS
2010年第10期11-15,共5页
Journal of Mechanical & Electrical Engineering
基金
国家高技术研究发展计划("863"计划)资助项目(2009AA04Z209)
浙江省基金资助项目(Y1080485)
关键词
滑模变结构
模糊
抖振
位置控制
sliding mode variable structure
fuzzy
chattering
position control
作者简介
张庆丰（1984-），男，浙江余姚人，硕士研究生，主要从事机器人关节驱动控制方面的研究．E-mail：kingfun888@sohu．com
通信联系人：杨庆华，男，教授，博士生导师．E-mail：robot@zjut．edu．cn
