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Improved sliding mode control method and related device

A control method and improved technology, applied in the direction of adaptive control, general control system, control/adjustment system, etc., can solve the problems of its own parameter disturbance and interference, achieve the effect of eliminating the approaching stage and overcoming the effect of being easily affected by interference

Pending Publication Date: 2022-06-03
HANGZHOU INNOVATION RES INST OF BEIJING UNIV OF AERONAUTICS & ASTRONAUTICS
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Problems solved by technology

However, the study found that the traditional sliding mode control method is tolerant to the influence of its own parameter disturbance and external disturbance in the sliding mode approach stage.

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  • Improved sliding mode control method and related device
  • Improved sliding mode control method and related device
  • Improved sliding mode control method and related device

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Embodiment Construction

[0034] In order to make the purposes, technical solutions and advantages of the embodiments of the present application more clear, the technical solutions in the embodiments of the present application will be described clearly and completely below with reference to the drawings in the embodiments of the present application. Obviously, the described embodiments It is a part of the embodiments of the present application, but not all of the embodiments. The components of the embodiments of the present application generally described and illustrated in the drawings herein may be arranged and designed in a variety of different configurations.

[0035] Thus, the following detailed description of the embodiments of the application provided in the accompanying drawings is not intended to limit the scope of the application as claimed, but is merely representative of selected embodiments of the application. Based on the embodiments in this application, all other embodiments obtained by ...

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Abstract

According to the improved sliding mode control method and the related device provided by the invention, the multi-joint robot obtains the motion information during motion, obtains the motion error between the motion information and the reference motion information, then inputs the motion error to the motion controller, obtains the motion control information output by the motion controller, and finally obtains the motion control information output by the motion controller. And the multi-joint robot is controlled through the motion control information. The motion controller is constructed based on the preset sliding mode manifold and the kinetic model of the multi-joint robot, and the initial state of the preset sliding mode manifold is 0, so that the approaching stage of sliding mode motion is eliminated, and the problem that a system track is easily influenced by interference in the approaching stage is solved.

Description

technical field [0001] The present application relates to the field of automatic control, and in particular, to an improved sliding mode control method and related devices. Background technique [0002] In recent years, articulated robots (eg, industrial robots) have been widely used in various industrial systems to automate machinery and ensure operator safety. However, due to the complex working environment of the multi-joint robot and the nonlinear and highly coupled dynamics of its own system, it is difficult to establish an accurate dynamic model of the multi-joint robot. [0003] Therefore, a sliding mode control method that does not depend on the multi-joint robot system model is proposed. However, it is found that the traditional sliding mode control method can be affected by its own parameter disturbance and external disturbance in the sliding mode approach stage. SUMMARY OF THE INVENTION [0004] In order to overcome at least one deficiency in the prior art, th...

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G05B13/04
CPCG05B13/042
Inventor 孙辰晨黄章敏牛建伟
Owner HANGZHOU INNOVATION RES INST OF BEIJING UNIV OF AERONAUTICS & ASTRONAUTICS
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