RPJ-X型喷浆机器人大臂的动态Terminal滑模控制  

Dynamic Terminal Sliding Mode Control of Upper Arm of RPJ-X Shotcrete Robot

作　　者：王晓宁[1] 王永忠 王益红[1] 

机构地区：[1]山东科技大学信电学院,山东青岛266510 [2]枣庄矿业(集团)有限责任公司物流中心,山东枣庄277000

出　　处：《煤矿机械》2009年第10期49-51,共3页Coal Mine Machinery

基　　金：国家"863"项目(863-512-16-02)

摘　　要：RPJ-X型喷浆机器人的大臂为闭合四连杆机构,首先给出它的动力学方程,在此基础上设计其动态Terminal滑模控制,主要包括切换函数的设计、动态滑模控制律的设计。数值仿真主要包括该控制系统的正弦位置跟踪以及阶跃响应。仿真表明,整个系统反应快速、灵敏,可以削弱抖振现象,而且其抗干扰能力显著提高。The upper arm of the RPJ-X shotcrete robot is a closed chain four-bar mechanism. The dynamic equation is given and based on this the dynamic terminal sliding mode control is designed, mainly including the design of the switching function, the design of the dynamic sliding mode control law. Numerical simulations mainly cover the sinusoidal position tracking and step response of the control systems. The simulations demonstrate that the control systems response rapidly and sensitively. The chattering phenomenon is suppressed and the anti-disturbance ability improved obviously.

关 键 词：喷浆机器人 动态Terminal滑模控制 位置跟踪 阶跃响应 

分 类 号：TD352[矿业工程—矿井建设]