| 改进幂次趋近律的机械臂滑模控制律设计 |
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| 引用本文： | 席雷平,陈自力,张世华. 改进幂次趋近律的机械臂滑模控制律设计[J]. 计算机测量与控制, 2012, 20(2): 380-382,391 |
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| 作者姓名： | 席雷平 陈自力 张世华 |
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| 作者单位： | 1. 军械工程学院光学与电子工程系,河北石家庄,050003
2. 军械工程学院基础部,河北石家庄,050003 |
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| 基金项目： | 军队2110实验室重点资助项目 |
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| 摘 要： | 针对机械臂滑模控制中存在的抖振问题,采用趋近律的方法来进行改善,在对机械臂的控制特点和常用的滑模趋近律进行分析的基础上,针对幂次趋近律的缺点,提出了一种改进的幂次趋近律,并对其趋近性能进行了分析;根据机械臂动力学模型和改进的幂次趋近律设计了相应的滑模控制策略,对其控制策略的位置跟踪特性和抖振消除能力等进行了验证;仿真结果表明,该控制策略不仅有效地抑制了机械臂滑模控制中的抖振问题,而且保证了机械臂系统对期望轨迹的快速跟踪性,具有更好的趋近特性和收敛特性。
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| 关 键 词： | 机械臂 滑模控制 趋近律 抖振 |
Design of Sliding Mode Control Scheme Based on Improved Idempotent Trending Law For Robotic Manipulators |
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| Xi Leiping , Chen Zili , Zhang Shihua. Design of Sliding Mode Control Scheme Based on Improved Idempotent Trending Law For Robotic Manipulators[J]. Computer Measurement & Control, 2012, 20(2): 380-382,391 |
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| Authors: | Xi Leiping Chen Zili Zhang Shihua |
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| Affiliation: | 1.Department of Optics and Electrics Engineering,Ordnance Engineering College,Shijiazhuang 050003,China; 2.Department of Basic Courses,Ordnance Engineering College,Shijiazhuang 050003,China;) |
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| Abstract: | The trending law is used to resolve the problem of chattering in sliding mode control for robotic manipulators.The control trait of robot manipulators and common trending law are analyzed,a new trending law is proposed and its trending performance is evaluated.The correlative sliding mode control scheme based on dynamic model of robotic manipulators and new trending law is designed.Then its position tracking and chattering control performances are validated.The simulation results show that the new scheme can not only control the chattering effectively but also achieve a fast and accurate position tracking,which is of better reaching and astringency performance. |
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| Keywords: | robotic manipulator sliding mode control chattering trending law |
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