东北大学学报（自然科学版）

东北大学学报(自然科学版) ›› 2009, Vol. 30 ›› Issue (11): 1649-1652.DOI: -

• 论著 • 上一篇    下一篇

液压挖掘机自适应模糊滑模控制的研究与仿真

刘阔;郭大猛;刘杰;杨克石;   

  1. 东北大学机械工程及自动化学院;
  • 收稿日期:2013-06-22 修回日期:2013-06-22 出版日期:2009-11-15 发布日期:2013-06-22
  • 通讯作者: Liu, K.
  • 作者简介:-
  • 基金资助:
    国家自然科学基金资助项目(50775029)

Research and simulation of hydraulic excavator's adaptive fuzzy sliding control

Liu, Kuo (1); Guo, Da-Meng (1); Liu, Jie (1); Yang, Ke-Shi (1)   

  1. (1) School of Mechanical Engineering and Automation, Northeastern University, Shenyang 110004, China
  • Received:2013-06-22 Revised:2013-06-22 Online:2009-11-15 Published:2013-06-22
  • Contact: Liu, K.
  • About author:-
  • Supported by:
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摘要： 为了解决滑模控制中的抖振问题,设计了自适应模糊滑模变结构控制器.为了使滑模控制的等效控制不依赖于挖掘机工作装置的精确数学模型,引入自适应模糊控制连续逼近等效控制器,增强对不确定性控制系统的鲁棒性,并将其用于液压挖掘机工作装置的轨迹跟踪控制.控制规则包括等效控制、切换控制和调整控制三个部分.在Matlab7.4/Simulink环境下对自适应模糊滑模控制进行了挖掘轨迹的跟踪仿真,给出了跟踪性能及控制输入.

关键词: 液压挖掘机, 运动学, 动力学, 滑模控制, 自适应模糊控制

Abstract: To eliminate the chattering in sliding control, a structure-variable controller is developed for adaptive fuzzy sliding. Introducing the adaptive fuzzy control to continuously approximate to the equivalent controller so as to make the equivalent control independent of the accurate mathematic model of the hydraulic excavator's bucket, the robustness of the uncertainty control system is enhanced and then applied to the trajectory tracking control of the hydraulic excavator's bucket. The control law involves three parts, i.e., the equivalent, switching and regulating control. The adaptive fuzzy sliding control is simulated with Matlab7.4/Simulink for path tracing of excavator's bucket, thus revealing the tracking performance and input control.

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