高技术通讯2011，Vol.21Issue(11)：1171-1177,7.DOI:10.3772/j.issn.1002-0470.2011.11.010
提高锻造操作机工作速度的鲁棒非线性控制器设计
Robust nonlinear controller design for improving the working rate of forging manipulators
摘要
Abstract
The mechanism controlling the position and orientation (PO) of the tong-carrier is the most important part in a forging manipulator, for it significantly affects the forging manipulator' s working rate. With the mechanism remained unchanged and the hydralic system rarely changed, a robust nonlinear controller was proposed to improve the performance of the control system. The controller was based on the sliding mode control method and took into account two significant factors, the nonlinearities of the hydraulic actuators and the inverse dynamics of the mechanism. Simulation results, using PID controller and using the proposed controller in the tracking control of the simplified similar model of a heavy manipulator, showed that the proposed controller could improve the mechanism' s working rate in a great extent and keep consistent PO tracking performance under large load variation.关键词
液压机械手/锻造操作机/鲁棒控制/非线性控制Key words
hydraulic manipulator/forging manipulator/robust control/nonlinear control引用本文复制引用
程宁波,关立文,王立平,姜琳..提高锻造操作机工作速度的鲁棒非线性控制器设计[J].高技术通讯,2011,21(11):1171-1177,7.基金项目
973计划(2006CB705406)和国家自然科学基金(50605041)资助项目. （2006CB705406）
