多关节机器人的滑模控制器的设计与仿真说课.doc

多关节机器人的滑模控制器的设计与仿真 摘 要 随着机械电子和自动控制等学科的快速发展，机器人的功能正日趋完善 并开始在众多领域扮演着越来越重要的角色。轨迹跟踪能力很大程度上决定了机器人系统的性能。因此，对机器人轨迹跟踪控制的研究有着很高的理论和实践意义。机器人属于高度非线性、强耦合、参数时变的动力学系统。并且，系统本身和外部环境存在着许多不确定性。滑模变结构控制响应速度快，对匹配参数不确定性和参数扰动具有完全自适应性。 本文在现有机器人学和滑模控制理论的文献基础之上，研究并设计了机器人轨迹跟踪控制系统。将滑模控制策略应用于机器人轨迹跟踪控制，利用其响应速度快和对不确定性干扰不敏感的良好特性。但是，滑模变结构控制中常常出现的高频抖振现象却成为其在实际应用中的巨大缺陷，会对系统产生很大的危害。为了有效地降低抖振现象，保证系统的稳定性，本文采用了 结合神经网络和模糊控制的办法来降低抖振，保证系统稳定。 本文首先研究了一般系统的滑模变结构控制理论，随后，结合机器人系统具体数学模型和动力学特性设计了轨迹跟踪滑模控制器。通过实验仿真验证了控制器对轨迹跟踪控制的有效性。 在文中，通过结合神经网络补偿控制器和模糊控制的办法，补偿不确定干扰，降低滑模运动中的抖振。在全程滑模控制器中，通过全程滑模面的设计使得系统状态从最初时刻就进入滑模面，消除趋近模态，增强对不确定性和参数扰动的鲁棒性。 关键词 ：机器人控制；滑模变结构控制；抖振；模糊控制；神经网络控制 Design and simulation of multi-joint robot sliding mode controller Abstract With the rapid developing of mechatronics, autonetics and so on, thecapability of robot is becoming more and more perfect, and playing a more and more import role in many domain. The tracking ability of a robot controls over the whole system’s performance. So, the research of robot tracking possesses high value. Robot system is of high nonlinear, parameter uncertain, and so on. In and out of the robot system, there exists many uncertain disturbance. Variable Structure Control (VSC) has the characteristics of acting rapid self-adapting to parameter uncertain and disturbance. Based on the researches of scholar on robot and VSC with SM, Application of VSC, the robot control system designing is the main work in this paper. However, the chattering with high frequency in traditional VSC sliding model control systems is a barrier for the application to the practice engineering problems, and the chatter will create much harm to system. To fully make use of the good characters such as robustness of sliding mode control and decrease the chatter phenomenon in robot control system design, guarantee the stability of whole dynamic system, the robot mode, dynamic characters of robot manipulator and theories of control system designing are studied firstly, then another control theory