一种气液联控柔顺力控制系统的在线控制  

On-line Compliant Force Control for Pneumatic Hydraulic Combination Control(PHCC) Servo System

作　　者：王洪艳[1] 赵克定[1] 刘翠翠[1] 

机构地区：[1]哈尔滨工业大学机电工程学院,哈尔滨150001

出　　处：《系统仿真学报》2007年第21期4985-4989,共5页Journal of System Simulation

基　　金：国家自然科学基金(50175016)

摘　　要：运用滑动模态变结构理论中的经典非线性设计方法,设计了二阶滑模面变结构控制器。针对机械手臂的阻抗控制中力控制的难点在于不能精确的知道环境的刚度和位置从而导致给定参考位置的误差,应用在线环境参数估计的方法进行了仿真研究,仿真结果说明该方法能够较好的进行气液联控机械手臂的柔顺力控制。A sliding controller was proposed, which was designed according to traditional sliding mode controller designing of nonlinear and uncertain systems and the method of sliding mode surface designing. Aiming at the difficulty of force control in the impedance control lying in the unknown stiffness and position of the environment, which produce error of the given reference position, the simulation was studied by the method of on-line environmental parameter estimate. The results of simulation show this method performs better for the force control of pneumatic hydraulic combination control servo system manipulator.

关 键 词：在线环境参数估计 滑模控制 阻抗控制 力控制 

分 类 号：TH138[机械工程—机械制造及自动化]