| 引用本文: | 凌睿,柴毅.悬臂式掘进机器人截割臂建模与二阶滑模控制器设计[J].控制理论与应用,2010,27(8):1037~1046.[点击复制] |
| LING Rui,CHAI Yi.Dynamic modeling and design of second-order sliding-mode controller for arm of roadheader robot[J].Control Theory and Technology,2010,27(8):1037~1046.[点击复制] |
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| 悬臂式掘进机器人截割臂建模与二阶滑模控制器设计 |
| Dynamic modeling and design of second-order sliding-mode controller for arm of roadheader robot |
| 摘要点击 2593 全文点击 1663 投稿时间：2009-12-20 修订日期：2010-05-31 |
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| DOI编号 10.7641/j.issn.1000-8152.2010.8.CCTA091641 |
| 2010,27(8):1037-1046 |
| 中文关键词 掘进机器人 二阶滑模控制 截割臂建模 机器人控制 多输入多输出系统 |
| 英文关键词 roadheader robot second order sliding mode dynamic model of arm robot control MIMO system |
| 基金项目 |
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| 中文摘要 |
| 根据悬臂式掘进机器人截割工艺和结构特点, 建立了截割臂动力学模型. 将一种基于有限状态结构的二阶滑模控制扩展到多输入多输出系统中, 在无速度观测器的情况下, 保证了滑模量及其导数在有限时间收敛到零. 算法消弱了传统滑模控制中的抖动问题, 提高了控制系统精度. 利用提出的多输入多输出二阶滑模控制算法, 设计了截割臂控制器. 通过仿真和实验, 证明了算法的有效性. |
| 英文摘要 |
| According to the cutting techniques and the structure characteristics of a roadheader robot, we present a dynamic model for its arm and develop for the arm a MIMO control system which is an extension of a second-order sliding-mode control system(2-SMC) based on the finite-state machine. This control system drives the sliding-variable and its derivative to approach zero in a finite time interval without using a rate observer, thus reducing the chattering phenomenon and improving the control accuracy. The proposed MIMO 2-SMC has been applied to the arm control of a roadheader robot. Simulation and experiment show the validity of the proposed algorithm. |