机器人系统变结构模型跟随控制方法研究

把机器人本体与其驱动电机作为一个系统建立动力学方程，应用Ｌｙａｐｕｎｏｖ函数法综合了该系统变结构模型跟随控制规律。在关节空间得到的控制规律不仅简单，而且可直接用于机器人控制。仿真结果表明，文中所提方案是可行的。

A Better Variable Structure Model Following Control for Chinese Industrial Robot

Chinese engineers have presented several methods on industrial robot control with the dynamics of drive motors considered. In this paper, the author puts forward a different method based on the combination of variable structure system and model following control.My method is believed to be simpler, easier to implement, and better in control performance than existing Chinese methods. That the method is simpler and easier to be implemented can be seen from Eq. (23), which is derived by taking average values of changing parameters of robot dynamics. That average values can be taken is because there is no singularity point in the working space of an industrial robot, so the motion range and the velocity for each joint of the industrial robot are bounded. The chattering effect of the variable structure system is reduced by limiting the varying range of the chattering components. That the presented method is better in control performance is shown in Fig. 1, which gives the simulation results of a PUMA 560 industriat robot obtained with fourth-order Runge- Kutta method. From it we can see that the maximum tracking error of all joints between the reference model and the industrial robot is Within 0. 008 degrees.