焊接机器人非奇异Terminal滑模控制系统研究  

Research of non-singular Terminal sliding mode control system for welding robot

作　　者：孙辉辉[1] 訾斌[1] 钱森[1] 李清伟[2] 杨根喜[2] 

机构地区：[1]中国矿业大学机电工程学院,江苏徐州221116 [2]徐州工程学院,江苏徐州221008

出　　处：《机械设计》2012年第8期40-44,共5页Journal of Machine Design

基　　金：国家自然科学基金资助项目(50905179);江苏省产学研联合创新资金-前瞻性联合研究资助项目(BY2011123)

摘　　要：针对焊接机器人不确定性系统的特点,进行了非奇异Terminal滑模控制系统研究。建立了焊接机器人动态模型;确定了控制系统的硬件结构,并在此基础上探讨了系统非奇异Terminal滑模控制的基本原理。最后,结合实例对焊接机器人非奇异Terminal滑模控制系统进行了数值仿真。结果表明,该控制系统的自适应性强,精度高,误差可以快速收敛到0。According to the feature of uncertain control systemof the welding robot, the study on the non-singular Terminal sliding mode control system is carried out. First, the dynamic model of welding robot is established; then, the hardware structure of the control system is designed based on the non-singular Terminal slid- ing mode control system; in addition, the basic principle of the non- singular Terminal sliding mode control system is discussed. Finally, combined with instances, the numerical simulation of the control system is demonstrated. The results indicate that the control system is strong in adaptivity, high in accuracy, and the error can be con- verged to zero very quickly.

关 键 词：焊接机器人 TERMINAL滑模控制 动态建模 数值仿真 

分 类 号：TP242.2[自动化与计算机技术—检测技术与自动化装置]