| 液压伺服驱动的并联机器人离散滑模变结构控制 |
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| 引用本文： | 焦晓红,方一鸣.液压伺服驱动的并联机器人离散滑模变结构控制[J].自动化与仪器仪表,2001(1):25-27,22. |
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| 作者姓名： | 焦晓红 方一鸣 |
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| 作者单位： | 燕山大学电气工程学院,秦皇岛,066004 |
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| 摘 要： | 本文针对液压伺服驱动并联机器人数学模型的特点，设计了一种具有变速趋近律的离散滑模变结构控制器。仿真研究结果表明，该控制方案可避免通常变结构控制避不可避免的颤动，且系统对参数摄动和外界干扰具有较强的鲁棒性。
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| 关 键 词： | 液压伺服系统 并联机器人 离散滑模变结构控制 变速趋近律 |
| 文章编号： | 1001-9227(2001)01-0025-04 |
Discrete sliding mode variable structure control for parallel robot driven by hydraulic servo |
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| Jiao Xiaohong,etc.Discrete sliding mode variable structure control for parallel robot driven by hydraulic servo[J].Automation & Instrumentation,2001(1):25-27,22. |
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| Authors: | Jiao Xiaohong etc |
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| Abstract: | Aiming at the character of the mathematical model of parallel robot driven by the hydraulic servo system,a kind of discrete sliding mode variable structure controller with the variable rate reaching law is designed.the simulation result demonstrates that the chattering phenomemon which is inherent to the variable structure control is avoided in this control scheme,and control system exhibits strong robustness to parameter variations and external disturbances. |
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| Keywords: | Hydraulic servo system Parallel robot Discrete sliding mode VSC Variable rate reaching law |
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