机器人伺服系统中的轨迹跟踪滑模控制算法

Algorithm of Trajectory Following with Sliding Mode Control for AC Servo System of Robotic Manipulators

本文提出在机器人交流伺服系统中采用轨迹跟踪的滑模控制算法,同时提出消除滑模控制中的高频振荡的方法和节省控制能量的观点,并对滑模带的边界做了讨论,也对消除静态误差提出了改进意见,最后对系统反馈环节的滞后因素对滑模控制的影响做了分析,通过大量的仿真数据,证明这种方法可使系统具有快速性、静态误差小、对系统参数变化和各种外扰的鲁棒性好等优点,同时也提高了机器人驱动系统的可靠性。

This paper presents a control algorithm of trajectory following with sliding mode. Then concept has been presented that we not only eliminate high frequency oscillation in process of control, but also can save the control energy. The paper discusses a boundary layer neighboring sliding mode curve and put forward idea of modification which eliminates steady error of robotic manipulators position,lastly analyses that delay factor has an effect on process of control with sliding mode. A lot of data of simulation indicate the version which can make the system to have advantage those are good fast rapid function, small steady error and robust performance for parameter change and all kind of applied disturbance. At the same time this version improves reliability of AC servo system for robotic manipulators.