气动机械手轨迹的Terminal滑模控制方法  

Trajectory Control for Cartesian Pneumatic Manipulator Using the Terminal Sliding Mode Control Method

作　　者：丘世因[1] 袁锐波[1] 易鹏[1] 

机构地区：[1]昆明理工大学机电工程学院,云南昆明650500

出　　处：《机械与电子》2014年第8期70-73,共4页Machinery & Electronics

基　　金：云南省自然科学基金重点项目(2010CD030)

摘　　要：应用Terminal滑模控制方法对三轴直角坐标型气动机械手进行连续轨迹控制。首先建立了气动位置伺服系统的数学模型,然后运用Terminal滑模控制对机械手进行轨迹控制。仿真研究结果表明,采用高阶非线性的Terminal滑模控制方法,可以使该机械手对空间直线轨迹的跟踪误差只在未达到收敛点的时间段内较大,在到达收敛点后能完全跟踪目标轨迹。This paper applies the terminal slid-ing mode control method to control the trajectory of a three axises cartesian pneumatic manipulator. A mathematical model of the pneumatic servo con-trol system was established at first,then the termi-nal sliding mode control method was used for traj-ectory control.The simulation results shows that the tracking error of the terminal sliding mode con-trol method become large only in the time period of not fully reaching the convergence point in time when the manipulator tracks the space straight line,whereas it can fully track the target trajectory after reaching the convergence point.

关 键 词：直角坐标型机械手 气动位置伺服系统 TERMINAL滑模 轨迹跟踪控制 

分 类 号：TH137[机械工程—机械制造及自动化]