液压机器人关节惯量大范围变化,要使其电液位置伺服系统获得满意的动态性能是复杂而困难的问题。本文应用滑模原理设计了一种简单的变结构控制器来解决这一控制难题,并同时进行了计算机数字仿真和实时控制实验研究。实验表明,所设计的控制器,能有效地克服机器人关节电液位置伺服系统变惯量的影响,一定程度地克服非线性的影响,系统具有良好的鲁棒性和位置程度。 The wide range of joint inertia of hydraulic robot varies widely. It is a complicated and difficult problem to obtain satisfactory dynamic performance of its electro-hydraulic position servo system. In this paper, a simple variable structure controller is designed to solve this control problem by using the sliding mode principle. At the same time, computer numerical simulation and real-time control experiment are carried out. Experiments show that the designed controller can effectively overcome the variable inertia of the robot electro-hydraulic position servo system and overcome the nonlinear effect to a certain extent. The system has good robustness and position degree.