液压驱动伺服机器人的模糊滑模控制研究  

Research on Fuzzy Sliding Mode Control of Hydraulic Servo Robot

作　　者：韩银锋[1] 

机构地区：[1]西安航空职业技术学院计算机工程学院,陕西西安710089

出　　处：《测控技术》2017年第1期76-79,83,共5页Measurement & Control Technology

摘　　要：针对液压驱动四足机器人伺服系统非线性和不确定性严重的问题,提出了一种快速响应、鲁棒性好、控制精度高的模糊滑模控制器,并进行了仿真研究。首先,建立了液压驱动伺服机器人的液压动力机构非线性数学模型,利用Lyapunov方法设计了滑模控制器;其次,构造了一个模糊边界层宽度调节器,削弱滑模控制的抖振;最后,分析了参考力、液压参数、供油压力及负载刚度变化对系统输出的影响。仿真结果表明,该控制器对液压伺服力系统非线性和参数变化具有较好的控制效果。该方法用于四足液压驱动伺服机器人的控制是可行的、有效的。In order to solve the problem that hydraulic servo system with strong nonlinearity and uncertainty, a fuzzy sliding mode controller with fast response, good robustness and high control accuracy is proposed and sim- ulated. Firstly, a nonlinear mathematical model of the hydraulic actuator is established, and the sliding mode controller is designed by Lyapunov method. Secondly, a fuzzy scheduling mechanism for boundary layer width tuning is designed to weaken the chattering. Finally, a set of experiments are performed to analyze the effects of reference force, hydraulic parameters, supply pressure and environmental stiffness on the output of system. The simulation results show that the proposed fuzzy sliding mode controller is effective for a nonlinear hydraulic sys- tem, and makes the system response robust in the presence of uncertainties. The method is feasible and effec- tive for the control of the four-legged hydraulic servo robot.

关 键 词：四足机器人 液压伺服系统 力控制 模糊滑模控制 非线性系统 

分 类 号：TP273[自动化与计算机技术—检测技术与自动化装置]