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针对3-RRRT型搬运机器人提出一种解耦的反演自适应动态滑模控制方法,以提高控制精度和鲁棒稳定性。首先利用非线性补偿方法将系统解耦成线性系统,运用一阶动态滑模设计新的滑模面,然后利用基于李亚普诺夫函数的Backstepping控制设计方法和自适应控制技术,设计了全局渐近稳定的系统控制器,最后利用MATLAB进行了系统控制数值仿真,结果表明,对3-RRRT型并联机器人的这种强耦合的、具有不确定性的非线性系统,采用该解耦的反演自适应动态滑模控制方法,可以达到理想的控制精度,并能保障系统的鲁棒稳定性。
In order to improve the control accuracy and robust stability of the 3-RRRT handling robot, a decoupled adaptive dynamic sliding mode control method is proposed. Firstly, the system is decoupled into a linear system by using the nonlinear compensation method, a new sliding mode surface is designed by using the first-order dynamic sliding mode, and then the Backstepping control design method and the adaptive control technique based on the Lyapunov function are used to design the global asymptotic The stability of the system controller, and finally using MATLAB numerical simulation of the system control, the results show that the 3-RRRT type of parallel robots with strong coupling of this nonlinear system with uncertainties, the use of the decoupled inversion of self Adapt to the dynamic sliding mode control method, can achieve the ideal control precision, and can guarantee the robust stability of the system.