摘要
由于PJR-X小型喷浆机器人具有系统参数变化、随机干扰和负载扰动等特点,数学模型难以精确确定,因而采用传统的PID控制方法很难得到良好的控制效果,系统性能得不到保证.为了消除这些因素对机器人系统性能的影响,采用无抖动滑模变结构控制技术对机器人控制系统进行设计.应用Matlab仿真软件对所设计的滑模变结构控制器进行实验仿真,并且还对施加于机器人不同负载的情况进行了仿真.通过对仿真结果的分析比较,可知采用此滑模变结构控制技术所设计的喷浆机器人控制系统能够较好地减轻由于负载变化等干扰因素对系统控制性能的影响,消除了传统变结构控制器所固有的抖振现象,系统性能指标明显提高,具有良好的动态性能和稳定鲁棒性.
Owing to the PJR - X shotcrete robot has such characteristics as system parameter＇ s variability, random jamming and load disturbance, the mathematical model is in general difficult to be derived, and an ideal controller can＇t be obtained based on conventional PID control. In order to eliminate the above factors＇ influence on the shotcrete robot system perfectly, a controller was designed for the robot by adopting chattering-free sliding mode variable structure control technique, and the experimental results were given about the control system. By analyzing and comparing the simulation results, it is obviously shown that the control system can lighten the effect on the control system caused by different disturbance factors, and eliminate the system chattering. As a result, the control system has great dynamic features and robust stability.
出处
《煤炭学报》
EI
CAS
CSCD
北大核心
2007年第5期548-551,共4页
Journal of China Coal Society
基金
国家"863"计划资助项目(863-512-16-02)
关键词
喷浆机器人
滑模控制
变结构控制
鲁棒性
抖动
shotcrete robot
sliding mode control
variable structure
robustness
jitter
