摘要
提出了一种新的机器人轨迹跟踪的控制方法,把变结构控制(VSC)理论应用到机器人伺服系统的自控式同步机(SCSM)上。这种方法不仅有效地限制伺服系统电流的高频振荡,平滑机器人操作器位置和速度运动轨线,而且算法简单,计算机容易实现,以及能使伺服系统的控制误差收缩到特定的区域内。应用了上述方法的机器人全局系统对于内部参数的变化和外部负载力矩的扰动都是不敏感的,具有较强的鲁棒性。
Presents a new control approach to robot's trajectory follow--up, through wh-ich the theory of variable structure control (VSC) applies to the self--contr-olled synchronous motor (SCSM) in robot's servo system. The new approachis not only very effective to suppress the high--frequency oscillation of curr-ent and to smooth the position--velocity curve of robot manipultor, but alsosimple in algorithm and easy to implement especially available to limit thecontrol errors of the servo system to a specified area. Utilizing this newapproach, the global stability system of a robot is proved insensitive to bothinternal parameter variation and torque disturbance due to external load witha high robustness provided.
关键词
机器人
交流伺服系统
变结构控制
robot
A. C servo system
variable struture control
trajectory follow-up
sliding mode curve
d-q coordinate transformation
star switch
sequence controller
smooth
