并联机器人的新型趋近率滑模控制研究
Real- time dynamics sliding mode control in a task space for a 4- dof redundant parallel mechanism is studied. Firstly,in the basic of the Lagrange dynamics model,a novel weighed integral gain exponential reaching law sliding mode control scheme in a task space is proposed to guarantee the system ro...
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| Format: | Article |
| Language: | zho |
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Editorial Office of Journal of Mechanical Transmission
2014-01-01
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| Series: | Jixie chuandong |
| Online Access: | http://www.jxcd.net.cn/thesisDetails#10.16578/j.issn.1004.2539.2014.10.042 |
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| _version_ | 1849765324591726592 |
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| author | 石明明 高国琴 牛雪梅 |
| author_facet | 石明明 高国琴 牛雪梅 |
| author_sort | 石明明 |
| collection | DOAJ |
| description | Real- time dynamics sliding mode control in a task space for a 4- dof redundant parallel mechanism is studied. Firstly,in the basic of the Lagrange dynamics model,a novel weighed integral gain exponential reaching law sliding mode control scheme in a task space is proposed to guarantee the system robustness to uncertain parameters and external disturbances by use of the sliding mode. Meanwhile,a negative weighted value is introduced to the integral item of the sliding mode control reaching law in order to reduce the control forces in the initial period and decrease the chattering of the output driving forces effectively on the premise of ensuring the trajectory tracking speed and precision of the parallel mechanism system. Secondly,the stability of the controller is analyzed and proved theoretically by a Lyapunov function. Finally,the simulation experiments of the parallel mechanism dynamics model and control are carried out by using MATLAB.Comparing with a computed torque control and a conventional reaching law sliding mode control,the results show that the established dynamics model is suitable for the real- time dynamic control of the parallel mechanism and the designed control method has the better performance. |
| format | Article |
| id | doaj-art-3ea644ba0a8d4dff9fbfd1db47a99470 |
| institution | DOAJ |
| issn | 1004-2539 |
| language | zho |
| publishDate | 2014-01-01 |
| publisher | Editorial Office of Journal of Mechanical Transmission |
| record_format | Article |
| series | Jixie chuandong |
| spelling | doaj-art-3ea644ba0a8d4dff9fbfd1db47a994702025-08-20T03:04:54ZzhoEditorial Office of Journal of Mechanical TransmissionJixie chuandong1004-25392014-01-0138117121+14288644793并联机器人的新型趋近率滑模控制研究石明明高国琴牛雪梅Real- time dynamics sliding mode control in a task space for a 4- dof redundant parallel mechanism is studied. Firstly,in the basic of the Lagrange dynamics model,a novel weighed integral gain exponential reaching law sliding mode control scheme in a task space is proposed to guarantee the system robustness to uncertain parameters and external disturbances by use of the sliding mode. Meanwhile,a negative weighted value is introduced to the integral item of the sliding mode control reaching law in order to reduce the control forces in the initial period and decrease the chattering of the output driving forces effectively on the premise of ensuring the trajectory tracking speed and precision of the parallel mechanism system. Secondly,the stability of the controller is analyzed and proved theoretically by a Lyapunov function. Finally,the simulation experiments of the parallel mechanism dynamics model and control are carried out by using MATLAB.Comparing with a computed torque control and a conventional reaching law sliding mode control,the results show that the established dynamics model is suitable for the real- time dynamic control of the parallel mechanism and the designed control method has the better performance.http://www.jxcd.net.cn/thesisDetails#10.16578/j.issn.1004.2539.2014.10.042 |
| spellingShingle | 石明明 高国琴 牛雪梅 并联机器人的新型趋近率滑模控制研究 Jixie chuandong |
| title | 并联机器人的新型趋近率滑模控制研究 |
| title_full | 并联机器人的新型趋近率滑模控制研究 |
| title_fullStr | 并联机器人的新型趋近率滑模控制研究 |
| title_full_unstemmed | 并联机器人的新型趋近率滑模控制研究 |
| title_short | 并联机器人的新型趋近率滑模控制研究 |
| title_sort | 并联机器人的新型趋近率滑模控制研究 |
| url | http://www.jxcd.net.cn/thesisDetails#10.16578/j.issn.1004.2539.2014.10.042 |
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