平面2-DOF并联机构的离散自适应光滑滑模控制

Adaptive Discrete Smooth Sliding Mode Control for a 2-DOF Parallel Manipulator

以一种平面二自由度并联机构为研究对象,以该机构的高精度轨迹跟踪运动控制为目标,建立了对象的运动学控制模型,并基于此模型设计出一种非线性幂次函数趋近律的离散自适应光滑滑模控制器。与机构在基于常规指数趋近律滑模控制算法下的直线轨迹跟踪控制效果进行了对比仿真实验。仿真结果表明,基于幂次函数的离散自适应光滑滑模控制算法能获得更好的位置与速度跟踪性能,仿真结果的各种指标分析进一步表明该控制算法达到了较好的高精度控制要求。

To get the target of the high-precision motion control for a 2-DOF parallel manipulator,this paper uses a methed of the adaptive discrete reaching law smooth sliding mode control based on the nonline power functions such as,which is based on the kinematics model.Simulation of the straight line on the sliding mode control of the index reaching law is also given,from the conclution comparion we can see that the control method of this paper would get the belter position and speed tracking performance.The simulation results and analysis further show that this control method can get the better requirements.