Manipulator Sliding Mode Control Research And DC Motor Control Design

Manipulator control technology is a high-tech multi-disciplinary and very active in the field of application.It integrates computer, control theory, institutions, information and sensor technology, artificial intelligence, bionics, etc. The control system is very complex and is multi-input multi-output nonlinear. It has a time-varying, strong coupling and nonlinear dynamic features. Its control method and control system design is the core of the whole manipulator control technology.Sliding mode control, as a class of special non-linear control, to the sliding zone in the pre-movement point, has nothing to do with the object parameters and disturbance. This control method has the advantages: fast response, insensitivity to parameter changes and disturbances without the system identification, relatively simple of the physical realization, which are widely used in the robots control fields.The advantages of sliding mode variable structure also bring a significant flaw-- the phenomenon of severe buffeting. In this paper, sliding mode control of the buffeting problem is studied in manipulator trajectory tracking applications. Using the features of the sliding mode variable structure control of the reaching law control over its suppression of buffeting and RBF (Radial Basis Function) neural network control of self-adaptive variable structure control to adjust the parameters, in combination with filters to filter out high - frequency signal, advantages of the three organic are combined to simulate the two joints manipulator trajectory tracking control. For the filter and simple sliding mode control method, Radial Basis Function neural worker sliding mode equivalent controlled and the method of RBF neural sliding mode reaching law, the three kinds of method had been compared with, simulated and analyzed. The results show that the design of neural network sliding mode reaching law control system has good tracking, robustness and a high control precision, simple achieve ,and effectively eliminated buffeting.Analysis of the end, DC torque motor is the implementation of component, LMD18200 is the motor-driven device, incremental optical rotary encoder disc is a position detection element, and TMS320F2811 is the controller of the position control system, a hardware circuit control system is established. Taking a single-joint robot arm as an example, a simple mathematical model is established to the system, and carries out a simulation in the MATLAB environment.