摘要
为同时解决4-R(2-SS)并联机构存在的链间耦合问题,以及随温度变化导致的电机参数漂移、负载变化以及外部干扰等引起的上界未知的模型不确定性问题,提出一种能够克服链间耦合的并联机构双增益自适应滑模运动学控制方法。建立考虑链间耦合的单支链运动学模型,并引入滑模控制策略。为使系统具有较好跟踪性能的同时有效减弱滑模控制抖振,在滑模控制中引入一种双增益项自适应规则,既能在近滑模面迅速有效调整滑模切换增益,又能有效避免滑模切换增益过估引起的滑模控制抖振问题,进而设计一种无需系统不确定上界信息,能克服链间耦合的双增益自适应滑模运动学控制算法。采用Lyapunov理论证明了所提控制方法的稳定性,通过MATLAB仿真实验和样机系统实验验证了其有效性。
For 4-R(2-SS)parallel mechanism,to solve the problems of the inter-chain coupling and the model uncertainty with unknown upper bound caused by motor parameter drift with temperature change,load change,external disturbance and so on,a double-gain adaptive sliding mode kinematic control method for the parallel mechanism is proposed. The kinematic model of each branch,which considers the interchain couple is established,and a sliding mode control strategy is introduced. To make the system have better tracking performance and effectively reduce the chattering of sliding mode. A double-gain adaptive rule is introduced in the sliding mode control,which can adjust the sliding mode switching gain near the sliding mode quickly and effectively,and can avoid the overestimation of sliding mode switching gain. Then a double-gain adaptive sliding mode kinematic control algorithm without the information of unknown upper bound of the system is designed,which can overcome the inter-chain couple. Lyapunov theory is used to prove the stability of the proposed control method. The effectiveness of the proposed control method is verified by MATLAB simulation experiment and prototype system experiment.
作者
付天忠
高国琴
方志明
FU Tian-zhong;GAO Guo-qin;FANG Zhi-ming(School of Electrical and Information Engineering,Jiangsu University,Zhenjiang 212013,China)
出处
《软件导刊》
2022年第11期44-51,共8页
Software Guide
基金
国家自然科学基金项目(51375210)
镇江市重点研发计划项目(GZ2018004)
江苏高校优势学科建设工程项目(苏政办发[2018]87号)。
关键词
并联机构
惯性矩阵
链间耦合
滑模控制
双增益项
自适应规则
parallel mechanism
inertia matrix
inter-chain couple
sliding mode control
double-gain
adaptive rule
