摘要
针对传统控制器存在启动输出转矩过大、误差收敛速度较慢及抖振的问题,采用“双幂次+指数式”趋近律设计滑模控制器,对下肢康复机器人关节进行直接控制,并在Matlab/Simulink环境下使用S函数对控制系统进行仿真分析。结果表明:采用传统的单幂次指数趋近率滑模控制,下肢康复机器人的位置与速度跟踪偏差较大,并且存在着明显的抖振现象;采用改进趋近率方法的滑模控制,不仅提高了跟踪精度和鲁棒性,而且能够有效削弱抖振。该研究提高了下肢康复机器人轨迹跟踪性能。
This paper proposes a novel controller as an improved candidate to the conventional controller which comes with the drawbacks such as larger starting output torques and slower error convergence speed and chattering.The study involves designing a sliding mode controller using the double power+exponential reaching law,which enables the direct control over the joints of lower limb rehabilitation robots;and simulating and analyzing the control system using S function in Matlab/Simulink environment.The results show that the use of the traditional single power exponential reaching rate sliding mode control leads to a larger deviation in position and velocity tracking of the lower limb rehabilitation robots,accompanied by an obvious chattering,while sliding mode control using improved reaching rate method ensures not only an improved tracking accuracy and robustness,but also an effectively reduced chattering.The research could aid in improving the tracking performance of lower limb rehabilitation robot.
作者
沈显庆
任琳琳
Shen Xianqing;Ren Linlin(School of Electrical&Control Engineering,Heilongjiang University of Science&Technology,Harbin 150022,China)
出处
《黑龙江科技大学学报》
CAS
2020年第1期105-110,共6页
Journal of Heilongjiang University of Science And Technology
关键词
机器人
轨迹跟踪
抖振
趋近律
滑模控制
robot
trajectory tracking
buffeting
law of approach
sliding mode control
