基于新型幂次趋近律的换电机械臂跟踪控制策略

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中图分类号：TP241 文献标志码：A 文章编号：1671-5276（2025）03-0186-06

Tracking Control Strategy of Electric Robotic Manipulator Based on New Reaching Law

YANG Fengkun1，WANG Lihui²，GAN Haiqing3 （1.NARI Technology Company Ltd.，Nanjing 211106，China; 2. School of Instrument Science and Engineering，Southeast University，Nanjing 21Oo96，China; 3.StateGrid Jiangsu Electric Power CompanyLtd.，Nanjing21OO24，China）

Abstract：Asamulti-input multi-output system，theroboticarmof thepassengercarpowerbatery electricexchangerobothas characteristicsofhighonlinearitytrongdynamicouplingandparameterpertubationdirectlyectingtheperfomanceofjb tracking control.Regardingthelow executionefciencyof electricroboticmanipulator，anew powerreaching lawmanipulator tracking control strategy isproposed to improvethe dynamic performanceandconvergencespedof the manipulator.Anew sliding modereaching law isputforward toaccelerate theconvergence speedandreduce thechatering problemofthesystem， anditsconvergencetimeisgiven.Combinedwiththefast-integralliding modesurface，afinitetimetrackingcontrolerforthe manipulatortrackingcontrolsystemisdesigned.Thefinite-timeconvergencepropertyof theproposedslidingmodecontroleris provedbyusingLyapunovstabilitytheorem.Andtheperformanceof thedesignedcontrollerisverified.Theexperimentalresults showthatthetrackingerorof theproposedpowerreachinglawisreducedfromO.738mmtoO.571mm，andits trackingcontrol performance is increaseed by 22.6% ，which effectively improves control accuracy and convergence speed.

Keywords：passenger car；power battry；electricexchange robot；new reaching law；trajectory tracking control；sliding mode control

0 引言

当前乘用车换电车型和换电电池包种类繁多，换电时间长，换电站无法对多车型和多型号电池包实现一站式快换。（剩余7470字）