摘要
提出了宏微双重驱动双连杆柔性臂机器人递阶控制系统结构,下层为根据柔性臂刚性模态 设计的实现关节角位置控制的滑模算法和压电陶瓷抑振器,上层为根据关节角误差信号和滑模函数 变化趋势建立的模糊推理表用以确定对滑模控制律的修正。借助自动机模型分析了系统的稳定性, 将控制律在包含柔性模态的完整柔性臂机器人模型上进行计算机仿真,取得了满意的结果。
A hierarchical structure for a two-link flexible manipulator with macro/micro drivers is proposed. The low layer is the sliding control for joint angles positioning derived from the rigid dynamics of the manipulator, and the piezoceramic actuators for suppressing vibrations. The upper layer is the supervisory layer which modifies the sliding mode control by a fuzzy reasoning rule table established on joint errors and trends of sliding mode function. By means of automata model, the stability of the closed-loop system is analyzed. Simulation results conducted on the whole model which includes flexible dynamics show that the control scheme has satisfactory results.
出处
《电机与控制学报》
EI
CSCD
北大核心
2005年第1期1-4,共4页
Electric Machines and Control
基金
高等学校博士点科研基金资助项目(2000021323)高等学校骨干教师资助计划项目(1043)
