摘要
针对工业机械臂系统高精度的位置跟踪控制要求,提出了一种模糊滑模变结构控制器。该控制器将指令信号由滑模变结构控制器产生的滑模等效控制项和由模糊控制器产生的切换控制项相加作为运动指令信号,对机械臂伺服驱动系统进行最佳调整。仿真结果表明:其对系统数学模型的依赖程度小,具有响应速度快、鲁棒性强的特点,速度跟踪振荡现象也得到明显的抑制。
In this paper,a fuzzy sliding mode controller is applied to industrialrobotic arm system to achieve high precision position tracking control.The output of the controller consists of sliding mode equivalent control and switching control.The sliding mode equivalent control is generated by sliding mode variable structure controller,and fuzzy controller generates switching control.The two kinds of control add together to realize the best adjustment of the industrial robotic arm system.The simulation results show this controller has little dependence on the mathematical model of the system.The controller has the characteristics of fast response and strong robustness,which can effectively restrain oscillations.
作者
郑晓斌
ZHENG Xiao-bin(Department of Mechanical Engineering,Fujian Chuanzheng Communications College,Fuzhou 350007,China)
出处
《陕西理工大学学报（自然科学版）》
2019年第1期22-27,共6页
Journal of Shaanxi University of Technology:Natural Science Edition
基金
福建省教育厅中青年教师科研项目(JAT170945)
关键词
模糊控制
滑模变结构控制
数学模型
位置跟踪
fuzzy control
sliding variable structure control
mathematical model
position tracking
