摘要
为了提高堆垛机器人末端执行器丝杠夹持系统在夹持定制式木门工件时的夹持精度,抑制系统中存在的参数摄动及外部干扰的影响,采用一种适应于夹持木门工况下的自适应滑模控制方法。首先,建立末端执行器丝杠夹持系统的动力学模型;其次,根据模型的状态空间方程设计了丝杠夹持系统的反步滑模控制器,为了抑制系统中受到的复合扰动的影响,在原先控制器的基础上设计了带自适应律的反步自适应滑模控制器;最后,通过仿真验证了设计控制器的性能。研究结果表明:与PID控制相比,设计的控制器具有较快的调节时间及较高的跟踪精度,对于存在的复合扰动具有较好的抑制作用,可以保证末端执行器丝杠夹持系统的鲁棒性。
In order to improve the clamping accuracy of stacking robot end effector screw clamping system when clamping the customized wooden door workpiece,and suppress the influence of parameter perturbation and external interference in the system,an adaptive sliding mode control method suitable for the working condition of clamping wood door is adopted.The dynamic model of the screw clamping system of the end effector is established.The backstepping sliding mode controller of the end effector screw clamping system is designed according to the state space equation of the model.In order to suppress the influence of the compound disturbance in the system,an adaptive backstepping sliding mode controller with adaptive law is designed on the basis of the original controller.The performance of the designed controller was verified by simulation experiment.The results show that,in comparison with the PID control,the designed controller has shorter adjustment time and higher tracking accuracy,so it can suppress the compound disturbance and ensure the robustness of the end effector screw clamping system.
作者
陈毅
刘送永
姚遥
曹胜
CHEN Yi;LIU Songyong;YAO Yao;CAO Sheng(School of Mechatronic Engineering,China University of Mining and Technology,Xuzhou 221116,China;Nantong Yuetong CNC Equipment Co.,Ltd.,Nantong 226000,China)
出处
《现代电子技术》
2021年第23期87-91,共5页
Modern Electronics Technique
基金
国家重点研发计划(2018YFB13080300)。
关键词
反步滑模控制器
丝杠夹持系统
末端执行器
堆垛机器人
动力学模型
复合扰动
调节时间
跟踪精度
backstepping sliding mode controller
screw clamping system
end effector
stacking robot
dynamic model
compound disturbance
regulating time
tracking accuracy
