| 基于交流伺服电机驱动的并联机器人动态滑模控制 |
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| 引用本文： | 朱彩红,高国琴,陆晶,张宏涛.基于交流伺服电机驱动的并联机器人动态滑模控制[J].机械设计,2007,24(5):9-11. |
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| 作者姓名： | 朱彩红 高国琴 陆晶 张宏涛 |
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| 作者单位： | 江苏大学,电气学院,江苏,镇江,212013 |
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| 基金项目： | 国家自然科学基金
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江苏省教育厅资助项目 |
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| 摘 要： | 并联机器人具有刚度大、承载能力强、误差小等特点,针对以交流伺服电机驱动的并联机器人机构--GPM-200并联机构,建立了控制系统模型,并在其工作空间中进行了轨迹规划,而后设计了一种动态滑模控制算法,在Matlab/Simulink上进行了仿真实验,结果表明:该算法鲁棒性好,且系统抗干扰能力强,对系统参数变化不敏感,具有良好的跟踪性能,实现了对该并联机器人的高精度实时控制.
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| 关 键 词： | 并联机器人 滑模控制 交流伺服电机 交流伺服 电机驱动 并联机器人 动态 滑模控制算法 drive based parallel robot sliding mode control 实时控制 精度 跟踪性能 敏感 变化 系统参数 抗干扰能力 鲁棒性 结果 仿真实验 Simulink |
| 文章编号： | 1001-2354（2007）05-0009-03 |
| 修稿时间： | 2006-08-012006-11-23 |
Dynamic sliding mode control of parallel robot based on AC servo-motor drive |
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| ZHU Cai-hong,GAO Guo-qin,LU Jing,ZHANG Hong-tao.Dynamic sliding mode control of parallel robot based on AC servo-motor drive[J].Journal of Machine Design,2007,24(5):9-11. |
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| Authors: | ZHU Cai-hong GAO Guo-qin LU Jing ZHANG Hong-tao |
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| Affiliation: | School of Electrical Engineering, Jiangsu University, Zhenjiang 212013, China |
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| Abstract: | Parallel robot possesses the characteristics of large rigidity, strong load bearing capacity and small error. Directed against the parallel robot mechanism with AC servo-motor drive--GPM-200 parallel mechanism, a model of controlling system was established, and a track planning in its working space has been carried out, After that a kind of dynamic sliding mode control algorithm was designed, and a simulative experiment was made on the Matlab/Simulink. The result shows that this algorithm is good in robustness, strong in anti-interference ability of the system, not sensitive to the variation of systematic parameters and possesses nice following-up property, thus achieved high precision real-time control on this parallel robot. |
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| Keywords: | parallel robot sliding mode control AC servo-motor |
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