摘要
为解决钢结构柔性探伤机器人在轨迹跟踪中存在控制模型复杂、跟踪速度慢和跟踪精度不高的问题,提出一种基于改进趋近律的滑模控制方法。将柔性机器人前后车体作为单独的移动机器人进行运动学分析,通过欧拉-伯努利梁方程求解前后车体与连接钢带之间的运动约束,得出柔性机器人整体运动学模型。在此基础上,通过反演方法设计一种基于改进趋近律的滑模控制器,加快跟踪误差的收敛速度并降低控制系统抖振。基于改进趋近律滑模控制对柔性机器人小车轨迹跟踪进行仿真实验,结果表明,改进趋近律滑模控制方法可以使柔性机器人快速跟踪期望轨迹进行运动,并且具有较好的跟踪精度和稳定性。
In order to solve the problem of complexity,slow tracking speed and low tracking precision of the control model of flexible robot for steel structure damage detection,a sliding mode control method based on improved approaching law is proposed.The front and rear body kinematics models of flexible robot are analyzed as individual mobile robot.The Euler-Bernoulli beam equation is used to solve the motion constraint between the front body,rear body and the connecting steel strip.The whole kinematics model of the flexible robot is obtained.On this basis,a sliding mode controller based on improved approaching law is designed by inversion method,which accelerates the convergence speed of tracking error and reduces the chattering of control system.Based on the improved approaching law sliding mode controller,the simulation of flexible robot trajectory tracking is finished.The results show that the improved approaching law sliding mode control method can make the flexible robot quickly track the expected trajectory for motion,and has better tracking accuracy and stability.
作者
艾青林
王国栋
徐巧宁
Ai Qinglin;Wang Guodong;Xu Qiaoning(Key Laboratory of E&M, Ministry of Education and Zhejiang Province, Zhejiang University of Technology, Hangzhou 310023)
出处
《高技术通讯》
EI
CAS
北大核心
2020年第12期1264-1273,共10页
Chinese High Technology Letters
基金
国家自然科学基金(52075488,51705456,51275470)
浙江省自然科学基金(LY20E050023)资助项目。
关键词
钢结构探伤
柔性机器人
轨迹跟踪
改进趋近律
滑模控制
steel structure damage detection
flexible robot
trajectory tracking
improved approaching law
sliding mode control
