| 双连杆柔性臂机器人的模糊补偿滑模控制 |
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| 引用本文： | 戴学丰,严浙平,孙立宁,蔡鹤皋.双连杆柔性臂机器人的模糊补偿滑模控制[J].电机与控制学报,2005,9(1):1-4. |
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| 作者姓名： | 戴学丰 严浙平 孙立宁 蔡鹤皋 |
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| 作者单位： | 哈尔滨工业大学,机器人研究所,黑龙江,哈尔滨,150001 |
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| 基金项目： | 高等学校博士学科点专项科研项目;高等院校骨干教师基金 |
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| 摘 要： | 提出了宏微双重驱动双连杆柔性臂机器人递阶控制系统结构，下层为根据柔性臂刚性模态设计的实现关节角位置控制的滑模算法和压电陶瓷抑振器，上层为根据关节角误差信号和滑模函数变化趋势建立的模糊推理表用以确定对滑模控制律的修正。借助自动机模型分析了系统的稳定性，将控制律在包含柔性模态的完整柔性臂机器人模型上进行计算机仿真，取得了满意的结果。
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| 关 键 词： | 柔性臂机器人 滑模控制 模糊控制 位置控制 离散事件系统 |
| 文章编号： | 1007-449X(2005)01-0001-04 |
| 修稿时间： | 2003年11月18 |
Sliding mode control with fuzzy compensation for two-link flexible manipulators |
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| DAI Xue-feng,YAN Zhe-ping,SUN Li-ning,CAI He-gao.Sliding mode control with fuzzy compensation for two-link flexible manipulators[J].Electric Machines and Control,2005,9(1):1-4. |
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| Authors: | DAI Xue-feng YAN Zhe-ping SUN Li-ning CAI He-gao |
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| Abstract: | A hierarchical structure for a two-link flexible manipulator with macro/micro drivers is proposed. The low layer is the sliding control for joint angles positioning derived from the rigid dynamics of the manipulator, and the piezoceramic actuators for suppressing vibrations. The upper layer is the supervisory layer which modifies the sliding mode control by a fuzzy reasoning rule table established on joint errors and trends of sliding mode function. By means of automata model, the stability of the closed-loop system is analyzed. Simulation results conducted on the whole model which includes flexible dynamics show that the control scheme has satisfactory results. |
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| Keywords: | flexible link manipulators sliding mode control fuzzy control position control discrete event systems |
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