摘要
针对喷砂除锈并联机器人移动平台钢砂路面轨迹跟踪的空转问题,首先根据钢砂物理特性建立驱动轮的Bekker承压模型,然后由滑移特性曲线计算出滑移率对该模型中驱动力的削弱量,进而建立钢砂堆积环境下结合滑移特性的移动平台动力学模型。基于该模型提出一种防空转高性能轨迹跟踪控制算法,该算法通过滑移率误差判断移动平台是否发生空转。当发生不完全空转时,设计以滑移率误差及其导数为输入、权值系数为输出的模糊规则,系统以该权值系数进行钢砂阻力前馈补偿跟踪误差光滑滑模轨迹跟踪控制(SSFSSC)和滑移率误差控制(SC)的复合控制。仿真结果表明,该算法保证了并联机器人移动平台在空转情况下的轨迹跟踪精度。
To solve the ilding problem of parallel robot mobile platform steel grit road trajectory tracking,firstly established Bekker pressure model of driving wheelaccording to physical properties of steel grit,further by slip characteristic curve,calculate the slip rate of the weakning amount of driving force in the model,thus building steel grit accumulation environment combined with sliding characteristics of dynamic model of the mobile platform.Based on the model and then presents a anti-slip performance trajectory tracking control algorithm.by slip ratio error,the algorithm determine whether a mobile platform is idling or not,when the ilding is not completely,design slip ratio error and its derivative as input,weight coefficient as the output of fuzzy rules.The system take the weight coefficient to conduct compound control combined with steel grit resistance feedforward compensation smooth sliding mode tracking error trajectory tracking control(SSFSSC)and slip ratio error control(SC).The simulation results show that the algorithm guarantees the trajectory tracking accuracy of the parallel robot under idling condition.
作者
卢国健
高国琴
方志明
LU Guo-jian;GAO Guo-qin;FANG Zhi-ming(School of Electrical and Information Engineering,Jiangsu University,Zhenjiang 212013,China)
出处
《软件导刊》
2021年第11期10-17,共8页
Software Guide
基金
国家自然科学基金项目(51375210)
镇江市重点研发计划项目(GZ2018004)。
