An Iterative Parameter Tuning Method for Robot Joint Motors Sliding Mode Controller
Parameters tuning of robot joint motors controller is the key for realizing good control performance.This paper presents an iterative parameter tuning method for a joint motors sliding mode controller.First,a permanent magnetic synchronous joint motor is designed,and the control object of the system is determined.Secondly,the sliding-mode PID control system that combined the PID current controller with the sliding mode speed controller is designed.The sliding mode controllers parameters are set initially with engineering design methods,also a redundant controller is added and its parameters are also set by using engineering design methods.The system output speed under the redundant PI speed controller and sliding mode speed controller is used as the iterating variables,the parameters of the controllers are obtained via iteration.Finally,the MATLAB/Simulink simulation has been conducted,the obtained results have shown that the proposed method is effective and feasible.
Joint motor Sliding mode controller Parameter tuning Iteration
Jie Li Haibo Yu Yanbo Wang Bokai Xuan Zhe Chen
Hebei University of Technology,Tianjin 300130,China Beijing Institute of Technology,Beijing 100081,China Aalborg University,9220 Aalborg,Denmark
国际会议
江苏镇江
英文
629-637
2019-09-20（万方平台首次上网日期，不代表论文的发表时间）