摘要
通过Sim Mechanics Link插件关联Solidworks与Matlab软件,将3-SPS(RPR)并联机构的Solidworks三维模型转换为Matlab/Sim Mechanics仿真分析模型。基于机构的Sim Mechanics模型和动力学方程,结合神经网络自适应算法,设计了一种新型滑模控制器,并通过Lyapunov函数证明了该控制器的稳定性。神经网络自适应算法的作用是实时地修正系统的不确定和非线性项参数,有效解决了滑模控制系统的抖振问题。建立机构的Matlab/Simulink系统框图并进行仿真分析,结果表明:新型滑模控制器的轨迹跟踪精度比传统滑模控制器的高,且响应速度快,鲁棒性强,从而验证了新型滑模控制器的有效性。
The 3D model of 3-SPS （RPR） is converted to Matlab/SimMechanics model by using SimMechanics Link plug-in,which model is for simulation analysis.The new sliding mode controller with neural-adaptive algorithm is designed with SimMechanics model and kinetic equation,then we prove the stability of controller based on the Lyapunov functior.The neural-adaptive algorithm is introduced to modify the uncertain and nonlinear parameters of the system,accordingly it can effectively solve the chattering problem in sliding mode control system.We compare and analyze the effect of conventional sliding mode controller with new sliding mode controller,which are set up for the simulation system by Matlab/Simulink soft.The results show that the trajectory tracking precision of new sliding mode controller is higher than that of conventional sliding mode controller,and the new one has faster response speed and better robustness.
出处
《机械设计与制造》
北大核心
2016年第6期197-200,共4页
Machinery Design & Manufacture
基金
国家自然科学基金资助项目(51165009
51105077)
中国博士后科学基金资助项目(2013M541874)
江西省自然科学基金重点资助项目(20142BAB206019)
江西省教育厅科技计划项目(GJJ14422)
江西省科技厅--江西省自然科学基金项目(20151BAB206034)
