基于时延估计的不确定混联机构自适应惯性增益滑模控制方法  

Sliding Mode Control Using an Adaptive Inertial Gain Dynamics for Hybrid Mechanism with Uncertain Dynamics Based on Time-Delay Estimation

作　　者：蒋毅躜 高国琴[1] 方志明[1] JIANG Yi-zuan;GAO Guo-qin;FANG Zhi-ming(School of Electrical and Information Engineering,Jiangsu University,Zhenjiang 212013,China)

机构地区：[1]江苏大学电气信息工程学院,江苏镇江212013

出　　处：《软件导刊》2022年第10期205-211,共7页Software Guide

基　　金：国家自然科学基金项目(51375210);镇江市重点研发项目(GZ2018004)。

摘　　要：针对一种需要考虑进出电泳槽液的汽车电泳涂装输送用混联机构运行时存在模型参数变化、外界扰动突变等不确定因素,提出一种基于时延估计的自适应惯性增益滑模控制方法。首先利用时延估计(TDE)技术估计混联机构动力学模型;针对混联机构存在的不确定性问题,引入非奇异快速终端滑模控制方法设计混联机构基于时延估计的动力学控制算法,并针对其惯性增益,利用滑动变量及其导数设计一种新型自适应律,以动态调节滑模控制器惯性增益,从而削弱不确定因素对系统控制性能的不良影响,提高系统鲁棒性与快速收敛性。采用Lyapunov理论证明该方法具有一致最终有界性,通过MATLAB仿真和汽车电泳涂装输送用混联机构样机实验,验证了该方法的有效性。For a hybrid mechanism for automobile electro-coating conveying considering performance,sliding mode control using an adaptive inertial gain dynamics based on time-delay estimation(TDE)is presented to improve the control accuracy of this system with uncertain dynamics in model parameters variation and external vibration abruptly. First,the dynamic model of hybrid mechanism with time-delay estimation has been obtained online thanks to a time-delay estimation(TDE)technique;Next,to overcome problems caused by uncertain problems,anon-singular fast terminal sliding mode control is introduced for forming the dynamical control algorithm based on TDE. Meanwhile,propose an new inertial gain adaptation together with the sliding variable and its derivative to realizing dynamic gain adjustment. The resulting adaptive inertial gian dynamics is combined with he dynamical control algorithm,which enables reduce negative effects of the hybrid mechanism,improve robust and convergence speed of the system.Then a Lyapunov theory is selected for analysis to prove the UUB of this system. Trough simulation with MATLAB and experiment using the prototype of hybrid mechanism for electro-coating conveyor,shows that the proposed method is effective.

关 键 词：混联机构 时延估计 滑模控制 自适应控制 机器人控制 

分 类 号：TP306[自动化与计算机技术—计算机系统结构]