Design of Position Controller for Delta Robot Applying Adaptive Sliding Mode Control

• Main Authors: Tsai, Tai-Huan, 蔡岱桓
• Other Authors: Chen, Mei-Yong
• Format: Others
• Language: zh-TW
• Published: 2017
• Online Access: http://ndltd.ncl.edu.tw/handle/k3mhuy

碩士 === 國立臺灣師範大學 === 機電工程學系 === 105 === In this study, we design an adaptive sliding mode position controller, which is applying on the three-phase DC brushless motor and using in the Delta robot arms. We remove the uncertainty and the external disturbances of a robot arm in the controller design, and proposed robust and the stability adaptive sliding mode (ASMC) control method. In this study, we choose sliding mode control (SMC) as our major controller, which has good robust appearance. There is an (sign function)sgn(.) in the sliding mode control, it is using to let the system status get on the sliding surface. But the function would let the changing between the -0 and +0 on the sliding surface. And there would have some chattering, because the changing sliding gain. So in our study, we change the function into (saturation function)sat(.) to remove the chattering in the sliding mode. But there are still have some steady state error, so we used the adaptive control to estimate the system’s load torque to remove the steady state error. The position control we proposed can made the three-phase DC brushless motor get on our target position. The error between the target position and the motor’s position is near to zero, because we remove the chattering and the steady state error. We use the Lyapunove function to prove our controller design in the system was stability. In the study, we us the positive inverse kinematics to calculate the motor moving angle in the robot arm. In the experiment result, communicate between the three-phase DC brushless motor and the computer is set up by the C# language. We design an UI interface working in the windows 10 system to control the robot arm. There are the relatively, absolute positon control, motor’s speed setting and the communication method in the UI interface. Let the robot arm move to our target position.