摘要
为实现装载机工作装置的轨迹跟踪控制,建立装载机工作装置的二自由度运动学和拉格朗日动力学方程。装载机工作装置具有明显的非线性和不确定性特征,并存在外部干扰,设计了自适应模糊滑模变结构控制器。利用模糊控制动态调节切换增益,将模糊控制的切换项转化为连续的模糊系统,增强了控制系统对装载机工作装置的不确定性和外界干扰的鲁棒性,削弱了滑模控制的抖振现象。设计过程采用了方法,保证了控制系统的稳定与收敛,仿真结果给出了自适应模糊滑模控制的跟踪性能及误差。
To realize the trajectory tracking of the loader working device,the 2-DOF kinematics and Lagrangian dynamics equation of the working device is estabilished.The loader’2 working device has obvious nonlinear,uncertainty characteristics and external disturbance,so the sliding mode variable structure theory is introduces into the control system.By converting the swiching term of sliding mode into a continuous fuzzy system,the switching gain is adjusted through fuzzy control.Accordingly,the control system robustness is enhanced to resolve the working device uncertainty and external disturbance.The stability and convergence of the control system were proven by using the Lyapunov method.The simulation results show the traceability and error for adaptive fuzzy control.
出处
《机械设计与制造》
北大核心
2013年第4期179-182,共4页
Machinery Design & Manufacture
