机器人关节电机的控制器参数整定是实现系统良好控制性能的前提。提出了一种基于交替联合迭代的关节电机滑模控制器参数整定方法。设计了永磁同步关节电机的电磁参数,并设计了PID电流环控制器和滑模速度环控制器结合的滑模PID控制器。利用工程整定方法初步整定滑模速度环控制器的参数；增设冗余PID速度环控制器,对其参数进行整定,以冗余PID速度环控制器和滑模速度环控制器作用于系统时的输出转速为迭代变量,交替选择速度环控制器参数进行联合迭代,完成滑模速度环控制器参数的整定。利用MATLAB/Simulink软件对系统进行仿真,证明方法具有较高的整定效率,可使关节电机控制系统获得良好的控制性能。

Parameters tuning of robot joint motor′s controller was the key of good control performance realization. A parameter tuning method was presented for joint motor sliding mode control based on alternating simultaneous iteration. Firstly, the permanent magnet synchronous joint motor was designed, and the control object of the system was determined. Secondly, the slidingmodePID control system that combined the PID current controller with the sliding mode speed controller was designed. The sliding mode controller′s parameters were set initially using engineering design methods. A redundant PID speed controller was added and its parameters were also set by engineering design methods. Using the output speed of the redundant PID speed controller and sliding mode speed controller as iterating variable, the parameters of controller were obtained via alternating simultaneous iteration. Finally, it was proved by the MATLAB/Simulink simulation that the proposed method was effective and feasible.

TM 301.2

河北省高等学校科学技术指导项目(Z2014025)；天津市自然科学基金项目(16JCQNJC04200)；河北省高等教育教学改革研究与实践项目(2017GJJG028)