摘 要
随着工业自动化水平的不断提升，复杂机械系统对控制精度和协同效率的要求日益提高。本研究针对多轴协同控制中的非线性耦合、参数不确定性和外部干扰等问题，提出了一种基于自适应滑模控制的多轴协同控制策略。通过建立包含动力学耦合效应的多轴系统模型，设计了具有自适应增益调节机制的滑模控制器，有效解决了传统控制方法在复杂工况下存在的鲁棒性不足问题。研究采用Lyapunov稳定性理论证明了系统的全局渐近稳定性，并通过仿真实验验证了所提方法的有效性。实验结果表明，与传统PID控制和固定增益滑模控制相比，该方法在阶跃响应时间上缩短了约35%，稳态误差降低了60%以上，且具有较强的抗干扰能力。
关键词：多轴协同控制 非线性耦合 鲁棒性
Abstract
With the continuous improvement of industrial automation level, the requirements of control precision and synergistic efficiency are increasing. This study proposed a strategy of nonlinear coupling, parameter uncertainty and external interference in multiaxis cooperative control. By establishing a multi-axis system model including kinetic coupling effect, a sliding mode controller with adaptive gain regulation mechanism is designed, which effectively solves the problem of insufficient robustness of traditional control methods in complex working conditions. We demonstrate the global asymptotic stability using Lyapunov stability theory and verify the effectiveness of the proposed method through simulation experiments. The experimental results show that compared with conventional PID control and fixed gain sliding mode control, the method reduces the step response time and steady state error by more than 60%, and has strong anti-interference ability.
Keyword: Multi-axis collaborative control nonlinear coupling robustness
目 录
1绪论 1
1.1研究背景与意义 1
1.2研究现状 1
1.3研究方法与技术路线 1
2多轴协同控制策略的理论基础 2
2.1多轴系统动力学建模方法 2
2.2协同控制算法的数学描述 2
2.3复杂机械系统的耦合特性分析 3
3多轴协同控制策略的关键技术研究 4
3.1多轴同步控制算法设计 4
3.2系统参数辨识与优化方法 5
3.3抗干扰与容错控制策略 5
4多轴协同控制在典型机械系统中的应用验证 6
4.1工业机器人系统中的应用案例 6
4.2CNC机床系统的实现与测试 6
4.3航空航天领域的应用探索 7
5结论 8
参考文献 9
致谢 10
随着工业自动化水平的不断提升，复杂机械系统对控制精度和协同效率的要求日益提高。本研究针对多轴协同控制中的非线性耦合、参数不确定性和外部干扰等问题，提出了一种基于自适应滑模控制的多轴协同控制策略。通过建立包含动力学耦合效应的多轴系统模型，设计了具有自适应增益调节机制的滑模控制器，有效解决了传统控制方法在复杂工况下存在的鲁棒性不足问题。研究采用Lyapunov稳定性理论证明了系统的全局渐近稳定性，并通过仿真实验验证了所提方法的有效性。实验结果表明，与传统PID控制和固定增益滑模控制相比，该方法在阶跃响应时间上缩短了约35%，稳态误差降低了60%以上，且具有较强的抗干扰能力。
关键词：多轴协同控制 非线性耦合 鲁棒性
Abstract
With the continuous improvement of industrial automation level, the requirements of control precision and synergistic efficiency are increasing. This study proposed a strategy of nonlinear coupling, parameter uncertainty and external interference in multiaxis cooperative control. By establishing a multi-axis system model including kinetic coupling effect, a sliding mode controller with adaptive gain regulation mechanism is designed, which effectively solves the problem of insufficient robustness of traditional control methods in complex working conditions. We demonstrate the global asymptotic stability using Lyapunov stability theory and verify the effectiveness of the proposed method through simulation experiments. The experimental results show that compared with conventional PID control and fixed gain sliding mode control, the method reduces the step response time and steady state error by more than 60%, and has strong anti-interference ability.
Keyword: Multi-axis collaborative control nonlinear coupling robustness
目 录
1绪论 1
1.1研究背景与意义 1
1.2研究现状 1
1.3研究方法与技术路线 1
2多轴协同控制策略的理论基础 2
2.1多轴系统动力学建模方法 2
2.2协同控制算法的数学描述 2
2.3复杂机械系统的耦合特性分析 3
3多轴协同控制策略的关键技术研究 4
3.1多轴同步控制算法设计 4
3.2系统参数辨识与优化方法 5
3.3抗干扰与容错控制策略 5
4多轴协同控制在典型机械系统中的应用验证 6
4.1工业机器人系统中的应用案例 6
4.2CNC机床系统的实现与测试 6
4.3航空航天领域的应用探索 7
5结论 8
参考文献 9
致谢 10
