移动焊接机器人的滑模控制
毕业论文关键词 轮式移动焊接机器人 滑模控制 反演方法 轨迹跟踪控制 仿真
Title Sliding Mode Control for Mobile Welding Robot
Abstract
This article takes a wheeled mobile welding robot as control object, and
designs its trajectory tracking control method. A wheeled mobile welding
robot is a typical nonlinear system. In order to control nonlinear systems
like this, researchers figured out a plenty of methods, such as sliding
(variable structure) control methods, feedback linearization methods.
This paper mainly adopts backstepping-based sliding control method for the
tracking control.
In the first, the kinematic model of the wheeled mobile welding robot is
built, and then the corresponding sliding mode control method is designed.
This control method is based on the backstepping control method with
sliding surface, and the controller realizes the trajectory tracking
control of the two-wheeled robot on linear and sinusoidal. Simulate by
MATLAB software. The consequence of simulation declares that, the sliding
mode controller has good control effect for the two-wheeled mobile welding
robot and it can well achieve the preset trajectory tracking control.
Keywords mobile welding robot sliding mode control backstepping
mothod trajectory tracking control simulation
目 次
1 引言 . 1
1.1 选题背景及意义 .. 1
1.2 轮式机器人基本概念 1
1.3 焊接机器人研究概况 2
1.4 滑模控制基本概念 . 2
1.5 基于 S-Function 的SIMULINK 仿真 .. 3
1.6 本文主要研究问题及结构安排 .. 4
2 移动焊接机器人建模 6
2.1 数学模型的建立 .. 6
2.2 运动学模型的建立 . 7
2.3 本章小结 .. 9
3 移动焊接机器人的反演滑模控制律设计 .. 10
3.1 反演滑模控制律设计方法 .. 10
3.2 移动焊接机器人的反演滑模控制器设计 .. 14
3.3 设计控制律时遇到的问题及解决方法 17
3.4 本章小结 17
4 仿真实验及其分析 .. 18
4.1 仿真实验过程 . 18
4.2 仿真结果分析 . 21
4.3 仿真过程中遇到的问题及解决方法 . 32
4.4 本章小结 32
结 论 . 33
致 谢 . 34
参 考 文 献 35 1 引言
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