| In recent years,the requirement of improving motion accuracy of industrial robots in machining and manufacturing has become more and more urgent,and the synchronization of robotic joints motion is one of the most important factor affecting the accuracy of robots' motion.Aiming at the non-linearity and strong coupling of industrial robots that are difficult for controller,and considering the wide application of communication network in control system,synchronization of networked industrial robotic systems was researched,and the main work is as follows:(1)Through the second Lagrange equation,the dynamic model of industrial robots was established,and the characteristics of the dynamic model was analyzed;Considering the time delay of network,the transmission of information in networked control systems was analyzed,and the mathematical model of general networked control system was also established.(2)To achieve the synchronous control of industrial robots without time delay,the architecture based on coupling error of the system was designed;For synchronous position control of industrial robots,A PD synchronization control algorithm with expected gravity compensation was designed,and the stability of the closed-loop system was analyzed theoretically;As to the trajectory tracking problem,a PD synchronization control algorithm with expected speed and acceleration compensation was proposed,and the stability of the closed-loop system is proved theoretically;the performance of synchronous control algorithms was verified by numerical simulation.(3)The variable structure control algorithm is applied to solve the influence of time delay in networked industrial robotic systems.For synchronous position control of industrial robots,a PD controller combining with a variable structure controller was designed,and the stability of the closed-loop system was analyzed theoretically;A sliding mode control algorithm was proposed for the synchronous trajectory tracking,and the stability of the closed-loop system was proved theoretically;Through numerical simulation,the advantages and disadvantages of the above control algorithms was analyzed.(4)The dynamic characteristics of networked industrial robotic systems were analyzed deeply and a novel synchronous control algorithm based on time-delay systems and robust H_? theory was proposed.The industrial robotic system was linearized by introducing a nonlinear compensator.Regarding the compensation error as disturbance,synchronization of industrial robotic systems was transformed into a robust control problem of linear time-invariant systems with disturbance;Therefore,the robust H_? state feedback and dynamic output feedback control law was designed,and the solution was given by a LMI;The abilities to compensate the time delay and reduce interference of the above control laws were analyzed through numerical simulation. |
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