摘要
永磁无刷直流电机 (PMBLDC)具有结构简单、运行可靠、运行特性好等优点。作为一种全新的机器人 ,并联机器人具有刚度大、承载能力强、误差小等特点。文章就是针对一种以PMBLDC驱动的少自由度并联机器人 ( 3 DOF) ,采用了一种新型对角模糊滑模控制器。新的控制器能够根据系统运动状态的变化不断调整模糊控制部分的输入和输出空间的宽度。仿真结果表明该算法是可行的并且设计简单、系统的鲁棒性好。具有很好的快速性和抗干扰能力。
Permanent magnet brushless DC motor features simple structure, stable work and easy control. As a new type of robot, the parallel robot features high rigidity, great load and high precision. This paper proposes a new fuzzy sliding mode fuzzy logic control (SMFLC) for low-DOF parallel robot which drived by PMBLDC motor (3-DOF), this new strategy can adjust the width of input and output spaces. The simulation results illustrate the method has good robustness, good fastness and insensitive to disturbances. And it has such good performance as iterative learning control or adaptive control.
出处
《组合机床与自动化加工技术》
2005年第2期45-47,共3页
Modular Machine Tool & Automatic Manufacturing Technique
基金
江苏省教育厅资助项目 (0 3KJD51 0 0 72 )
