基于模糊补偿的弹药自动装填机器人滑模控制  

Sliding Mode Control Based on Fuzzy Compensation for Ammunition Auto-Loading Robot

作　　者：李郁峰[1] 李魁武[2] 潘玉田[1] 郭保全[1] 

机构地区：[1]中北大学计算机与控制工程学院,山西太原030051 [2]西北机电工程研究所,陕西咸阳712099

出　　处：《中北大学学报（自然科学版）》2014年第3期258-262,269,共6页Journal of North University of China(Natural Science Edition)

基　　金：国家自然科学基金资助项目(51275489)

摘　　要：针对弹药自动装填机器人存在的摩擦力、扰动力、负载变化大以及建模误差等导致的控制器精度降低、鲁棒性差的问题,提出了一种基于模糊补偿的自适应模糊滑模控制的鲁棒控制器.同时为了减少模糊逼近的计算量,提高运算效率,采用模糊补偿器对不同的扰动补偿项加以区分,并分别逼近.仿真实验表明:该控制方法可以很好地抑制各种干扰因素的影响,消除了传统滑模控制器所固有的抖振现象,系统性能指标有了明显提高,实现了弹药装填机器人轨迹快速跟踪控制的要求.Aimed at the problems of low control accuracy and weak robustness influenced by friction,load changes,modeling errors and other issues in ammunition auto-loading robot control system,a robust adaptive fuzzy sliding mode controller based on fuzzy compensation was proposed.In order to reduce calculated amount of fuzzy approximation and enhance computional efficiency,fuzzy compensator was employed to distinguish different disturbance compensation terms and approximate each of them respectively.The simulation results show that the control system can lighten the effect on the control system caused by different disturbance factors and eliminate the system chattering of traditional SMC.As a result,the control system has better dynamic features and meet the requirement that the motion of ammunition auto-loading robot quickly tracks the trajectory.

关 键 词：模糊补偿 滑模控制 非线性系统 不确定性干扰 

分 类 号：TJ303.3[兵器科学与技术—火炮、自动武器与弹药工程] TP242[自动化与计算机技术—检测技术与自动化装置]