悬臂式掘进机器人截割臂建模与二阶滑模控制器设计-控制理论与应用.pdf

27 8 Vol. 27 No. 8 2010 8 Control Theory Applications Aug. 2010 : 1000−8152(2010)08−1037−10 , (, 400030) : , . , , . , . , . , . : ; ; ; ; : TP273 : A Dynamic modeling and design of second-order sliding-mode controller for arm of roadheader robot LING Rui, CHAI Yi (College of Automation, Chongqing University, Chongqing 400030, China) Abstract: 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. Key words: roadheader robot; second order sliding mode; dynamic model of arm; robot control; MIMO system 1 (Introduction) . , [2, 3]. [4], , , . . , . , , . . , . [1]. , , [5∼8] . , . , . , . , , , , . . , , , , , . , . , , , . : 2009−12−20; : 2010−05−31. : (CDJZ. 1038