码垛机器人的幂次指数趋近律变结构控制

Power Index Reaching Law Variable Structure Control for Palletizing Robot

为提高码垛机器人的控制精度,并保证系统在存在建模误差及扰动时的鲁棒性,设计了一种基于幂次指数趋近律的变结构控制算法。建立了二连杆机械臂数学模型,分析了三种趋近律的缺点,比较并提出了幂次指数趋近律。提出了使用求解微分方程的办法分三个阶段来研究算法的鲁棒性。分析了有界综合扰动极限值与控制器参数之间的关系。使用新算法得出了机器人在不含扰动时的仿真结果,解出了变结构控制三个阶段的微分方程,得出了机械臂在存有建模误差及扰动时的仿真结果。幂次指数趋近律变结构控制算法提高了码垛机器人的控制精度,在系统存在各种误差及扰动条件下具有极强鲁棒性并依然可以保证很高的控制精度。

The work aims to improve the control accuracy of palletizing robot and ensures the robustness of the system in the presence of modeling errors and disturbances,designs a variable structure control algorithm that based on power index reaching law.The mathematical model of two-links manipulator has been established,the shortcomings of three kinds of reaching laws have been analyzed and compared,the concept of the power index reaching law has been broached.The method of solving differential equations has been proposed to study the robustness of the algorithm in three stages.The relationship between the ultimate value of bounded synthetic disturbance and the parameters of controller has been analyzed.The simulation results of the mechanical arm which without disturbance have been obtained by the new algorithm,the differential equations of the three stages of variable structure control have been solved,and the simulation results of the mechanical arm with modeling error and disturbance have been obtained.The variable structure control which based on power index reaching law improves the control accuracy of the palletizing robot.It has strong robustness and can still obtain high control accuracy in the case of various errors and disturbances.