摘要
并联机器人由多杆并联运动机构构成,是一个多自由度、多变量、高度非线性、多参数耦合的复杂系统,其惯量、摩擦力等参数变动大、重复性小,并且具有不确定性,难以实际实现高性能控制。为此,本文提出一种基于名义模型的滑模控制方法实现并联机构的高精度控制,并利用MATLAB进行了系统控制的数值仿真。结果表明,对并联机构这种强耦合、具有不确定性的非线性系统,采用本文设计的控制方法可以达到理想的控制精度,并能保障系统的鲁棒稳定性。
Parallel manipulator is essentially a closed-loop kinematic chain mechanism,which is a complicated multi-variable nonlinear strong-coupling system,and significantly affected by parameter uncertainty,un-modeled dynamics,load disturbances,joints and servo friction and other outside interference,traditional control strategy has been difficult to achieve the desired control performances.This paper addressed a sliding mode control based on nominal model for the 3—DOF parallel mechanism,and the numerical simulation of the control system was done using MATLAB.The simulation results show the strategy can provide ideal control precision for the parallel manipulator with strong-coupling and highly uncertainty,as well as robust stability for the system.
出处
《中国农机化学报》
2016年第8期212-216,共5页
Journal of Chinese Agricultural Mechanization
基金
江苏省高校自然科学基金项目(14KJB510008)
关键词
并联机器人
运动学分析
名义模型
滑模控制
parallel mechanism
kinematics analysis
nominal model
sliding mode control
