积分切换面自适应滑模控制及其在并联机器人中的应用

摘要

针对交流伺服电机作为驱动装置的2-DOF并联机器人,设计出一种带有积分切换面的自适应滑模控制器.首先,带有积分运算切换面的变结构控制器使系统具有对未知参数变化和外部干扰不敏感的特性.其次,通过设计一种自适应律,实现对系统不确定量的在线辨识估计,以辨识结果实时调整控制器参数,以削弱系统抖动,提高了控制系统的实用性.仿真结果表明所设计控制器抗干扰能力强,能较好地实现2-DOF并联机器人各支路的运动控制,具有较好的稳定性和鲁棒性能.%Aimed at 2- DOF parallel robot with AC servo motors as driving unit,an adaptive sliding mode controller with integral switching surface is designed in it.Firstly,the variable structure controller with integral switching surface is proposed to make the system of the parallel robot be insensitive to the uncertainties and external disturbance.Secondly,an adaptive law is designed to achieve the online identification and estimation of the system uncertainties of the parallel robot, which results will be applied to adjust in-time the parameter of the controller in order to alleviate the chattering of the system and improve the practicability of the control system.The simulation results indicate that the control system designed has a strong anti-interference ability,which can achieve the better motion control of each branch of 2-DOF parallel robot with good dynamic and static quality as well as good stability and aperfect robust performance.