直角坐标机器人补偿滑模交叉耦合控制研究  

Compensation Sliding Cross Coupling Control Research of Cartesian Coordinate Robot

作　　者：王伟 陈志梅[1] 王贞艳[1] Wang Wei;Chen Zhimei;Wang Zhenyan(School of Electronic Information Engineering,Taiyuan University of Science and Technology,Taiyuan 030024,China)

机构地区：[1]太原科技大学电子信息工程学院,山西太原030024

出　　处：《系统仿真学报》2021年第4期867-874,共8页Journal of System Simulation

基　　金：山西省自然科技研究基金(201901D111263,201701D221108);山西省研究生教育改革研究课题(2019JG173,2019JG165)。

摘　　要：针对典型直角坐标机器人控制精度低,在单轴数学模型的基础上,建立了针对各轴互为正交典型机器人的轮廓误差模型,采用改进双幂次趋近律,设计终端滑模控制器,为提高机器人整体轨迹跟踪精度,加入了积分补偿项,对各轴的位置精度进行稳定补偿,并在轴间采用交叉耦合控制来消除轴间的轮廓误差。既削弱了传统滑模控制的抖振,又提高了系统的响应速度,增强了系统的鲁棒性。通过仿真实验,验证了补偿滑模交叉耦合控制器的可行性,具有工程实际应用价值。For a typical Cartesian coordinate robot controls precision is low, based on a single-axis mathematical model, a contour error model for a typical robot whose axes are orthogonal to each other is established. An improved double-power approach law is used to design a terminal sliding mode controller to improve the robot. The integral compensation terms are added to stably compensate the position accuracy of each axis to improve the overall trajectory tracking accuracy, and the cross-coupling control between the axes is used to eliminate the contour error between the axes. It not only weakens the chattering of traditional sliding mode control, but also improves the response speed of the system and enhances the robustness of the system. The feasibility of the compensated sliding mode cross-coupling controller is verified by simulation experiments. The controller has practical application value in engineering.

关 键 词：机器人 滑模控制 交叉耦合 积分补偿 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置] TP273[自动化与计算机技术—控制科学与工程]