滑动模式控制与自适应参数的5DOF混合机器人机器人
Yanqin Zhao1, Mingkun Wu2, Jiangping Mei3
1School of Mechanical Engineering, Yangzhou University, Yangzhou, China.
Science progress
|October 1, 2024
概括
一个新的自适应滑动模式控制器改善了混合机器人的轨迹跟踪. 这种方法通过减少喋喋不休并保持对干扰的稳定性来提高加工精度和效率.
科学领域:
- 机器人和控制系统 机器人和控制系统
- 制造业 工程 制造工程
- 机械工程 机械工程
背景情况:
- 混合机器人提供诸如高刚性和大工作空间等优势,使其适合大规模的部件加工 (例如汽车面板).
- 动态建模中的挑战和外部干扰阻碍了精确的控制,影响加工精度,质量和效率.
- 传统的滑动模式控制 (SMC) 对非线性系统是有效的,但由于固定的接近速度而遭受聊.
研究的目的:
- 开发一个改进的滑动模式控制器 (SMC),具有自适应参数,用于5度自由度的混合机器人.
- 提高轨迹跟踪性能,克服传统SMC的局限性,特别是聊天和对参数变化的敏感性.
- 提高混合机器人系统的整体加工精度和效率.
主要方法:
- 建立了5度自由度混合机器人的动力模型.
- 使用虚拟工作原理开发一个刚性动态模型.
- 修改后的SMC的设计,其中接近速度取决于状态,创建一个自我适应的控制器.
- 模拟分析以评估控制器的性能和稳定性.
主要成果:
- 拟议的自适应式SMC实现了快速接近速度,同时抑制了聊天.
- 控制器表现出良好的抗外部干扰的强度.
- 模拟结果表明,与传统方法相比,修改后的SMC提供了更准确,更平稳的轨迹.
结论:
- 自适应的滑动模式控制器有效地提高了混合动力机器人的轨迹跟踪性能.
- 这种方法成功地解决了聊天问题,并提高了复杂加工应用中的稳定性.
- 开发的控制器有助于在汽车零部件中使用的系统中提高加工精度和效率.
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