二自由度机器人模糊滑模位置控制及仿真  

Position Control and Simulation of 2-DOF Robot Based on Fuzzy Sliding-Mode Algorithm

作　　者：李鹏[1] 杨杰[1] 牛欢[1] 

机构地区：[1]青岛大学机电工程学院,山东青岛266071

出　　处：《青岛大学学报（工程技术版）》2017年第2期102-107,共6页Journal of Qingdao University(Engineering & Technology Edition)

摘　　要：针对二自由度关节型机器人的位置控制问题,本文提出了基于模糊算法的滑模位置控制。设计线性滑模面和滑模控制律,通过Matlab模糊控制箱设计模糊控制器,使两者的转矩输出共同作用于机器人系统。滑模控制采用线性滑模面,可使系统在有限的时间段内到达稳态,实时性好;模糊控制可以削弱滑模控制所带来的输出抖动,在模糊控制中加入自适应律,能够实时补偿建模误差及外界干扰信号的影响。借助Adams/Control模块和Matlab/Simulink库,搭建联合仿真控制系统进行仿真验证。仿真结果表明,该控制系统能够有效结合两种控制方法的优点,动态性能和稳态性能良好,并能够在一定程度上消除抖振,满足设计需要。因此,该研究具有一定的实际应用价值。Aiming at position control of 2-DOF joint robot, a sliding-mode control based on fuzzy algorithm is presented. Linear sliding surface and sliding mode control rule are designed and fuzzy controller is also designed by using fuzzy logic toolbox of Matlab in order to make that two output torques can work together in the robot system. A linear sliding surface is used in sliding-mode control, which can make the system reach the stability in limited time and has high real-time; fuzzy control can weaken output chattering caused by sliding mode con-trol. Adaptive control is used in fuzzy control, which can compensate model errors and influences of interfer-ence signals. Adams/Control module and Matlab/Simulink are used to establish the coordinated system in order to verify performance of the control method. Simulation result shows that the system can combine the advanta-ges of the two control methods effectively and has good dynamic and steady-state performance. In addition, chattering can be eliminated to some extent,so the system is satisfied with the design requirement. Therefore, this study has some practical application value.

关 键 词：关节型机器人 滑模控制 模糊控制 稳定性 

分 类 号：TP242.2[自动化与计算机技术—检测技术与自动化装置]