基于双曲正切函数的工业机器人滑模控制算法分析  

Analysis of Sliding Mode Control Algorithm for Industrial Robot Based on Hyperbolic Tangent Function

作　　者：郑银湖 宋永胜 邓静[1] ZHENG Yinhu;SONG Yongsheng;DENG Jing(Guangdong University of Technology,Guangzhou 510006,China)

机构地区：[1]广东工业大学,广东广州510006

出　　处：《现代信息科技》2020年第22期119-122,共4页Modern Information Technology

基　　金：中山市重大科技专项项目(191021082628279)。

摘　　要：滑模控制方法具备很好的不变性和抗扰动性能,这得益于系统状态沿滑模面不断滑动。但由于其控制量变化较快,电机遭受的冲击较大,给实际应用造成了一定困难。针对此问题,文章通过将传统滑模控制算法与双曲正切函数进行结合,优化传统滑模控制算法,使得系统在维持原有性能的基础上大幅度削减控制输入信号的抖振问题。理论分析表明,在该方法作用下,系统是渐进收敛的。仿真结果验证了其有效性。The sliding mode control method has good invariance and anti-disturbance performance,which benefits from the continuous sliding of the system state along the sliding mode surface.However,due to the rapid change of its control quantity,the motor suffers a greater impact,which causes certain difficulties in practical applications.In response to this problem,this paper combines the traditional sliding mode control algorithm with hyperbolic tangent function to optimize the traditional sliding mode control algorithm,so that the buffeting problem of control input signal can be greatly reduced on the basis of maintaining the original performance of the system.Theoretical analysis shows that the system gradually converges under the action of this method.The simulation results verify its effectiveness.

关 键 词：机械臂 滑模控制 双曲正切函数 轨迹跟踪 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置]