论文标题:离散变结构控制理论及其在喷浆机器人中的应用
Discrete Variable Structure Control Theory and Its Applications in Shot-Concrete Robot
论文作者 李卫民
论文导师 苏学成,论文学位 硕士,论文专业 控制理论与控制工程
论文单位 山东科技大学,点击次数 76,论文页数 97页File Size3860k
2003-05-01论文网 http://www.lw23.com/lunwen_82779352/ 离散时间系统;变结构控制;趋近律;喷浆机器人
Discrete-time,Variable Structure Control,Reaching Law,shot-concrete robot
本文探讨了离散系统的变结构控制理论及其在喷浆机器人中的应用。论文首先详细地介绍了连续系统的变结构控制理论，讨论了一般的变结构系统的设计方法、不变性、抖动现象的产生和消除等问题。然后讨论了离散系统的变结构控制的设计特点和方法。首先研究了将连续系统的变结构控制理论离散化后应用在离散系统时采样时间选取的问题，接下来讨论了直接针对离散系统的变结构控制的设计。第四章介绍了离散系统无抖振准滑动模态的设计，研究了两种消除抖振的趋近律的设计方法。在此基础上，介绍了一种新的针对离散系统的变结构设计方法，并从理论上证明了它是无抖振的。接下来介绍了喷浆机器人的本体结构设计、电控系统设计，应用离散系统的变结构控制理论设计了机器人的控制器，进行了仿真，并对仿真结果进行了讨论。
Variable structure control of discrete-time systems and its applications in shot-concrete robot are discussed in this paper. At first, theory of variable structure control of continuous-time systems is introduced in detail, such questions as design of variable structure control, Invariance, and chattering phenomenon are discussed. Then characteristics and design methods of variable structure control for discrete-time systems are introduced. First, the problem of choosing sample time in the discretized variable structure control of continuous-time systems is analyzed, then direct design methods of variable structure for discrete-time systems are discussed. In chapter four, design methods of chattering-free for discrete-time variable structure control systems are discussed in emphasize, and two design methods of reaching law which can eliminate chattering phenomenon are studied. A new design method of variable structure control for discrete-time systems is introduced which is verified as chattering-free in theory. After that, design of mechanism structure and control system of shot-concrete robot are introduced in detail. Then a robot controller is designed based on variable structure control theory for discrete-time systems, and its control result is discussed, too.
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