基于步进电机驱动并联机器人的无震颤滑模控制研究

Study on Smooth Sliding Mode Control for Step Motor Driven Parallel Robot

步进电机具有体积小、转矩大、转速范围宽等优点;并联机器人具有刚度大、承载能力强、误差小等特点。本文针对以步进电机驱动的新型三平移并联机器人机构的上述特点,设计了滑模控制算法,建立了控制系统模型,仿真实现了对各支路主动副期望运动轨迹的跟踪。仿真结果表明:该算法解决了滑模控制的震颤问题,系统的鲁棒性好,且系统抗干扰能力强,对系统参数变化不敏感,具有良好的跟踪性能,实现了对该并联机器人的高精度实时控制。

Step motor features small in the volume, big in the torque and wide in the range of speed. The parallel robot features high rigidity, great load and high precision. For a new - type 3 - DOF translation parallel robot mechanism drived by step motor, a slid- ing mode control algorithm was designed, the control scheme was proposed, and the motion control of the mechanism was implemented by simulation. It is shown from the simulation results that the parallel robot system using the proposed control algorithm does not have the chattering problem. The system has good robustness, and is robust to the uncertainties and disturbance, and has good performance in tracking. The high - accuracy real time control of the parallel robot mechanism is implemented.