分拣并联机器人自适应滑模控制

Sorting-parallel Robot Adaptive Sliding Mode Control

串类水果分拣并联机器人分拣负载未知且动态变化,当水果串发生牵连时将引起负载转动惯量发生较大变化。为实现串类水果分拣并联机器人的高性能控制,提出一种能够在线辨识系统负载转动惯量的自适应滑模控制算法。在分析交流伺服电机机械运动方程的基础上采用梯度校正参数辨识算法辨识负载转动惯量,设计出一种自适应规则以提高并联机器人系统克服负载变化的能力,同时有效抑制滑模控制带来的抖振。在MATLAB上对该控制算法进行仿真,并将其应用于串类水果分拣并联机器人样机平台进行实验,实验结果验证了算法辨识负载变化的有效性。

The sorting load of the string fruit sorting parallel robot is unknown and dynamically changing.When the fruit string is entangled,it will cause a significant change in the rotational inertia of the load.To achieve high-performance control of a string fruit sorting parallel robot,an adaptive sliding mode control algorithm is proposed that can identify the system load moment of inertia online.On the basis of analyzing the mechanical motion equations of AC servo motors,a gradient correction parameter identification algorithm is used to identify the load moment of inertia,and an adaptive rule is designed to improve the ability of parallel robot systems to overcome load changes while effectively suppress-ing chattering caused by sliding mode control.The control algorithm was simulated on MATLAB and applied to the prototype platform of a seri-al fruit sorting parallel robot for experiments.The experimental results verified the effectiveness of the algorithm in identifying load changes.