基于自适应趋近律的采摘机器人关节滑模控制研究

发布时间：2018-05-27 10:20

本文选题：离散趋近律 + 自适应滑模　；参考：《农机化研究》2017年07期

【摘要】：利用离散趋近律设计的滑模控制可有效抑制滑模控制中的抖动现象,但其抑制抖动的效果与离散趋近律的设计参数及系统的采样时间有着密切的关系。为此,在分析指数趋近律抖动的基础上,提出了一种自适应滑模控制器,Mat LAB能够进一步的提高基于趋近律的滑模控制器的抖动抑制能力。为了验证本文所提出方法的有效性,在Mat LAB中实现了该算法,并利用其来控制采摘机器人关节的伺服电机。仿真结果表明:本文所提的算法具有较好的位置跟踪能力,进一步地抑制了指数趋近律滑模控制中存在的抖动现象,提高了系统的性能。
[Abstract]:The sliding mode control designed by the discrete approach law can effectively suppress the jitter in the sliding mode control, but the effect of its suppression jitter is closely related to the design parameters of the discrete approach law and the sampling time of the system. An adaptive sliding mode controller is proposed on the basis of the analysis of the exponential convergence law. The Mat LAB can be used. To further improve the jitter suppression ability of the sliding mode controller based on the approaching law, in order to verify the effectiveness of the proposed method, the algorithm is implemented in Mat LAB and uses it to control the servo motor of the joint of the picking robot. The simulation results show that the proposed algorithm has better position tracking ability and further suppression. The chattering phenomenon in sliding mode control with exponential reaching law is made, and the performance of the system is improved.
【作者单位】：郑州科技学院;
【基金】：河南省科技攻关计划项目(152102210002)
【分类号】：S225;TP242

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