具有抖振抑制特性的机械臂快速滑模变结构控制

摘 要:针对机械臂轨迹跟踪控制中的跟踪速度和抖振2个方面,提出了一种基于新型滑模面和模糊幂次趋近律的滑模变结构控制策略.对传统滑模面的特性进行了分析和比较,设计了一种快速非线性滑模面,其收敛速度优于快速终端滑模面,提高了滑模变结构控制滑动运动阶段的收敛速度.依据模糊控制理论,设计了一种模糊幂次趋近律,在保证抖振抑制效果的前提下,提高了系统的趋近运动速度.仿真结果证明了所提控制方法的有效性和可行性.

Fast sliding mode variable structure control for manipulators with chattering suppression effect

Considering the performances of tracking speed and chattering in manipulators trajectory tracking control,a sliding mode variable structure control strategy based on the sliding mode surface and the fuzzy power reaching law was proposed.A fast and nonlinear sliding mode surface was designed by analyzing and comparing the traits of traditional sliding mode surfaces.It achieves a higher convergence speed than fast terminal sliding mode surface,which improves the convergence speed of sliding mode movement.According to fuzzy control theory,a fuzzy power reaching law was designed,which can not only control the chattering effectively but also increase the speed of reaching movement.Simulation results show the efficiency and feasibility of the design.