基于同步误差的6-PTRT型并联机器人滑模控制实现  

Implementation of Sliding Mode Control for 6-PTRT Parallel Robot Based on Synchronous Error

作　　者：温娟 嵇朋朋 WEN Juan;JI Peng-peng(Department of Electrical Engineering,Nanjing Branch of Jiangsu Union Technical Institute,Nanjing 210019,China)

机构地区：[1]江苏联合职业技术学院南京分院电气工程系,江苏南京210019

出　　处：《长春师范大学学报》2021年第2期58-63,共6页Journal of Changchun Normal University

基　　金：第四期江苏省职业教育教学改革研究课题“互联网+时代综合课程数字化教学资源开发与实践——以《工业机器人技术应用》课程为例”(ZZZ6);第四期江苏省职业教育教学改革研究课题“职业学校校企合作开发课程的实践研究”(ZCZ10);2020年度全国职业教育科研规划课题“1+X制度下《工业机器人应用编程》课程数字化资源建设研究”(2020QZJ156)。

摘　　要：通常并联机器人的系统模型存在高度的非线性和耦合性,难以准确地建立和实现高性能控制。本文针对6-PTRT型并联机构的并联机器人,提出一种基于同步误差的光滑滑模控制算法,并进行了仿真验证。该方法是将一种同步误差引入到光滑滑模控制,使并联机器人各控制支路的跟踪误差和同步误差同时收敛到零,在无需精确建模的前提下,削弱并联机器人支路间的耦合作用,实现并联机器人各支路的协调同步运动。仿真结果表明,本文提出的同步光滑滑模控制方法,相比光滑滑模控制方法,具有更短的响应时间、更高的控制精度。由于考虑了相邻支路的误差,该控制方法有效地解决了具有耦合作用的并联机器人各支路之间的同步协调性问题。For parallel robot,usually,the system model is difficult to be accurately established and the high-performance control is hard to be achieved because of its highly nonlinearity and strong coupling characteristic.In view of this,for 6-PTRT parallel robot,a novel smooth sliding mode control algorithm based on synchronization error is designed and it is verified by simulation.By introducing the defined synchronization error into the smooth sliding mode control,the tracking error of each branch converges to zero simultaneously,so the proposed method can resist the coupling effect among the branches of the parallel robot and realize the coordinated,synchronous movement of each branch of the parallel robot with no accurate system model.The simulation results show that the synchronous smooth sliding mode control method proposed has a shorter response time and a higher control precision,compared with the smooth sliding mode control method.By considering the errors of the adjacent branches,the synchronous coordination among the branches of the parallel mechanism with coupling effect is effectively improved.

关 键 词：光滑滑模控制 同步误差 并联机器人 耦合性和协调性 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置]