机器人的滑模与哈密顿平滑切换控制

Smooth Switching Control of SMC and Hamilton for Robot

针对目前机械臂末端位置控制不能同时满足快速性与准确性的问题,设计了新型切换双幂次趋近率,进一步提高了滑模控制的快速性,且提出了滑模与哈密顿的平滑切换控制策略。滑模控制具有良好的快速性能但稳态性能较差,抖振影响系统安全。哈密顿控制方法从能量角度出发,具有良好的稳态性能但其动态性能较差。提出的平滑切换控制方法综合考虑2种方法的优缺点,设计了平滑切换函数,当误差较大时由滑模控制保证系统响应的快速性,随着误差的逐渐减小,哈密顿控制方法的作用逐渐增大。仿真表明平滑切换控制策略同时保证了机械臂末端位置控制的快速性与准确性。

In order to solve the problem that the position control of the manipulator end can not satisfy both rapidity and accuracy,a new switching double power reaching law was designed to further improve the rapidity of the sliding mode control,and a smooth switching control strategy of sliding mode and Hamilton was proposed.Sliding mode control has good fast performance but poor steady performance.Chattering affects system safety.The Hamiltonian control method has good steady-state performance but poor dynamic performance from the energy point of view.In the proposed smooth switching control method,the advantages and disadvantages of the two methods were considered and the smooth switching function was designed.When the error was large,the rapidity of the system response was ensured by the sliding mode control.As the error decreased gradually,the function of the Hamiltonian control method was increased gradually.Simulation results show that the smooth switching control strategy ensures the speed and accuracy of the position control at the manipulator end.