Most downloaded articles
2021, 49(1):51-55.
DOI: 10.3969/j.issn.1001-3881.2021.01.011
Abstract:
The position servo system has higher and higher requirements on response speed, positioning accuracy and antidisturbance performance. Traditional PID control is easy to implement, but it depends on the object model and its performance is limited, so it is difficult to meet the high requirements. Sliding mode control does not depend on the object model and has strong applicability. Therefore, a fuzzy adaptive sliding mode control method for position servo system was proposed, by which the exponential reaching rate was adaptively adjusted. Taking the position servo system as the object, the simulation and experiments for position control and antidisturbance performance were carried out by using the methods of PID control, sliding mode control and fuzzy adaptive sliding mode control. The results show that the fuzzy adaptive sliding mode control is superior to the PID control in fast position and antidisturbance performance; compared with the ordinary sliding mode control, the fuzzy adaptive sliding mode control has better dynamic performance. Therefore, the proposed fuzzy adaptive sliding mode control has better applicability and certain application value in those applications where need fast response and strong antidisturbance performance.
The position servo system has higher and higher requirements on response speed, positioning accuracy and antidisturbance performance. Traditional PID control is easy to implement, but it depends on the object model and its performance is limited, so it is difficult to meet the high requirements. Sliding mode control does not depend on the object model and has strong applicability. Therefore, a fuzzy adaptive sliding mode control method for position servo system was proposed, by which the exponential reaching rate was adaptively adjusted. Taking the position servo system as the object, the simulation and experiments for position control and antidisturbance performance were carried out by using the methods of PID control, sliding mode control and fuzzy adaptive sliding mode control. The results show that the fuzzy adaptive sliding mode control is superior to the PID control in fast position and antidisturbance performance; compared with the ordinary sliding mode control, the fuzzy adaptive sliding mode control has better dynamic performance. Therefore, the proposed fuzzy adaptive sliding mode control has better applicability and certain application value in those applications where need fast response and strong antidisturbance performance.
2018, 46(11):66-69.
DOI: 10.3969/j.issn.1001-3881.2018.11.015
Abstract:
Pose repeatability is one of the important parameters of industrial robots. Repetitive accuracy testing system for robots is mainly used for Pose repeatability detection.The laser tracker is selected as the contrast instrument to verify the repetitive accuracy test system of the robot. According to the GB/T 12642-2013 Industrial robots performance criteria and related test methods, a periodic verification method was put forward for the repeatability of the robot pose of repetitive accuracy test system, which ensured the duration of the robot of repetitive accuracy test system. It can maintain the reliability of equipment calibration status and get the best measurement ability, so as to ensure and maintain credibility of the test results.
Pose repeatability is one of the important parameters of industrial robots. Repetitive accuracy testing system for robots is mainly used for Pose repeatability detection.The laser tracker is selected as the contrast instrument to verify the repetitive accuracy test system of the robot. According to the GB/T 12642-2013 Industrial robots performance criteria and related test methods, a periodic verification method was put forward for the repeatability of the robot pose of repetitive accuracy test system, which ensured the duration of the robot of repetitive accuracy test system. It can maintain the reliability of equipment calibration status and get the best measurement ability, so as to ensure and maintain credibility of the test results.
