Compensation Sliding Cross Coupling Control Research of Cartesian Coordinate Robot

doi:10.16182/j.issn1004731x.joss.19-0646

Abstract

Abstract: For a typical Cartesian coordinate robot controls precision is low, based on a single-axis mathematical model, a contour error model for a typical robot whose axes are orthogonal to each other is established. An improved double-power approach law is used to design a terminal sliding mode controller to improve the robot. The integral compensation terms are added to stably compensate the position accuracy of each axis to improve the overall trajectory tracking accuracy, and the cross-coupling control between the axes is used to eliminate the contour error between the axes. It not only weakens the chattering of traditional sliding mode control, but also improves the response speed of the system and enhances the robustness of the system. The feasibility of the compensated sliding mode cross-coupling controller is verified by simulation experiments. The controller has practical application value in engineering.

Key words: robot, sliding mode control, cross coupling, integral compensation

CLC Number:

TP242
TP273

Wang Wei, Chen Zhimei, Wang Zhenyan. Compensation Sliding Cross Coupling Control Research of Cartesian Coordinate Robot[J]. Journal of System Simulation, 2021, 33(4): 867-874.

References

[1] 刘云平. 基于滑模PID的飞行机械臂稳定性控制[J]. 南京理工大学学报, 2018, 42(5): 525-532.
Liu Yunping.Stability Control of Flight Manipulator based on Sliding Mode PID[J]. Journal of Nanjing University of Science and Technology, 2008, 42(5): 525-532.
[2] Abdalla T Y, Abdulkarem A A.PSO-based Optimumdesign of PID Controller for Mobile Robot Trajectory Tracking[J]. International Journal of Computer Application (S0975-8887), 2012, 47(23): 30-35.
[3] 王雨, 张慧博, 戴士杰, 等. 风电叶片打磨机器人柔性末端终端滑模力控制[J]. 计算机集成制造系统, 2019, 25(7): 1757-1766.
Wang Yu, Zhang Huibo, Dai Shijie, et al.Terminal Sliding Mode Control of Flexible End Grinding Force of Wind Turbine Blade Grinding Robot[J]. Computer Integrated Manufacturing System, 2019, 25(7): 1757-1766.
[4] 闫九祥, 赵永国, 王亚丽, 等. 双履带机器人电液行走控制系统建模与仿真[J]. 液压与机床, 2019, 47(19): 120-124.
Yan Jiuxiang, Zhao Yongguo, Wang Yali, et al.Modeling and Simulation of Electro-hydraulic Walking Control System for Double Track Robot[J]. Hydraulics and Machine Tools, 2019, 47(19): 120-124.
[5] Koren Y, Lo C C.Variable-gain Cross-coupling Controller for Contouring[J]. CIRP Annals-Manufacturing Technology(S0007-8506), 1991, 40(1): 371-374.
[6] Wang J, Liang H, Guan D G, et al.Contour Error and Control-algorithm-in-CNC-machining-tool[C]//International Conferenceon Mechatronics and Automation (ICMA). Chengdu,China: IEEE, 2012: 2351-2355.
[7] Zhao G Y, Hong J, Zhao Q Z.Contour Error Coupled- Control Strategy based On-line Interpolation and Curve Interpolation[J]. Journal of Computers (S1796-203X), 2013, 8(6): 1512-1519.
[8] 许万, 郑威, 杨维, 等. 基于双迭代学习–交叉耦合的双轴误差控制[J]. 合肥工业大学学报, 2017, 40(9): 1158-1263.
Xu Wan, Zheng Wei, Yang Wei, et al.Dual-axis Error Control based on Double-iterative Learning and Cross-coupling[J]. Journal of Hefei University of Technology, 2017, 40(9): 1158-1263.
[9] 金鸿雁, 赵希梅. 双直线电机伺服系统Elman神经网络互补滑模交叉耦合同步控制[J]. 电工技术学报, 2018, 32(21): 4971-4978.
Jin Hongyan, Zhao Ximei.Synchronous Control of Elman Neural Network Complementary Sliding Mode and Cross-Coupled Control for Dual Linear Motors Servo System[J]. Acta Electrica Technica, 2008, 32(21): 4971-4978.
[10] 王丽梅, 蔺威威. 三轴运动平台改进型交叉耦合轮廓控制[J]. 沈阳工业大学学报, 2016, 38(4): 361-366.
Wang Limei, Lin Weiwei.Improved Cross-coupled Contour Control for Three Axis Motion Table[J]. Journal of Shenyang University of Technology, 2016, 38(4): 361-366.
[11] Cheng M Y, Su K H, Wang S F.Contour Error Reduction for Free-form Contour Following Tasks of Biaxial Motion Control Systems[J]. Robotics and Computer-Integrated Manufacturing (S0736-5845), 2009, 25(2): 323-333.
[12] 王伟, 赵健廷, 胡宽荣, 等. 基于快速非奇异终端滑模的机械臂轨迹跟踪方法[J]. 吉林大学学报(工学版), 2020, 50(2): 464-471.
Wang Wei, Zhao Jianting, Hu Kuanrong, et al.Trajectory Tracking of Robotic Manipulators based on Fast Nonsingular Terminal Sliding Mode[J]. Journal of Jilin University (Engineering and Technology Edition), 2020, 50(2): 464-471.
[13] 张鑫, 李嘉欣. 基于分数阶微积分的机械臂滑模控制的研究[J]. 系统仿真学报, 2020, 32(5): 911-917.
Zhang Xin, Li Jiaxin.Research on Sliding Mode Control of Robotic Arm Based on Fractional Calculus[J]. Journal of System Simulation, 2020, 32(5): 911-917.
[14] 张合新, 范金锁, 孟飞, 等. 一种新型滑模控制双幂次趋近律[J]. 控制与决策, 2013, 28(2): 289-292.
Zhang Hexin, Fan Jinsuo, Meng Fei, et al.A New Double Power Reaching Law for Sliding Mode Control[J]. Control and decision-making, 2013, 28(2): 289-292.
[15] 李慧洁, 蔡远利. 基于双幂次趋近律的滑模控制方法[J]. 控制与决策, 2016, 31(3): 498-502.
Li Huijie, Cai Yuanli.Sliding Mode Control with Double Power Reaching Law[J]. Control and Decision-making, 2016, 31(3): 498-502.
[16] 骆飞. 基于进给系统动态特性的速度前瞻规划方法研究[D]. 淄博: 山东理工大学, 2017.
Luo Fei.Research on Velocity Forward Planning Method based on Dynamic Characteristics of Feed System[D]. Zibo: Shandong University of Science and Technology, 2017.