PMSM驱动机器人的FSMC与EPCH协同控制

FSMC and EPCH Cooperative Control for PMSM Driven Robot

单独一种控制方法难以使机器人末端快速、准确地跟踪位置变化,针对这一问题,提出了模糊滑模(FSMC)信号控制与误差端口受控哈密顿(EPCH)能量控制的协同控制策略。FSMC解决了系统动态时的快速性问题,EPCH控制解决了系统稳态时的准确性问题。设计了基于误差的协同函数,利用协同函数来实现对机器人关节系统的协同控制,使机器人关节位置伺服系统在有、无负载两种情况下,既能够实现动态位置的快速调节,又能够实现稳态时的高精度跟踪控制。仿真实验表明,采用FSMC与EPCH协同控制的方法,系统实现了动态响应速度快、稳态位置跟踪准确的目标。

It is difficult for a single control method to track the position change quickly and accurately at the end of the robot.To solve this problem,a cooperative control strategy of fuzzy sliding mode control(FSMC)signal control and error port controlled Hamiltonian(EPCH) energy control is proposed.FSMC solves the problem of rapidity when the system is in dynamic state.EPCH control solves the problem of accuracy when the system is in steady state.The cooperative function based on the error is designed,and the cooperative control of the robot joint system is realized by using this function.The robot joint position servo system can not only realize the rapid adjustment of the dynamic position,but also realize the high precision tracking control in the steady state under the condition of load or not.The simulation and experimental results show that the system achieves fast dynamic response and accurate steady-state position tracking by using FSMC and EPCH cooperative control method.