基于稳定性的并联机构自适应控制OA北大核心CSCDCSTPCD
Adaptive Controller for Parallel Mechanism Based on Stability
针对并联机构存在参数变化及不可预测的未建模误差的特点,提出一种基于模型的参考自适应控制策略.将机构系统的参数变化及未建模误差看成对实际系统的扰动,建立理想的参考模型,依靠系统状态及其误差构造自适应反馈律,利用稳定性理论推导自适应控制律,使得实际机构与参数模型具有相同的动态特性.实例显示,自适应控制器对参数变化及未建模误差引起的运动误差具有很好的抑制作用,保证机构对规划的目标运动具有很高的跟踪精度.
The strategy was proposed based on model and reference to adaptive control according to the properties of parameter variations and unpredictable, un-modeled error in parallel mechanism. Parameter variations and un-modeled error of mechanism system were treated as a disturbance to the practical system, an ideal reference model was established, and adaptive feedback rule was constructed depend on system status and the error. The adaptive control rule was deriv…查看全部>>
鲁开讲;师俊平;淡卜绸
西安理工大学机械与精密仪器工程学院,西安710048宝鸡文理学院机电工程系,宝鸡721016西安理工大学机械与精密仪器工程学院,西安710048
机械制造
并联机构稳定性自适应控制
Parallel mechanism Stability Adaptive control
《农业机械学报》 2012 (1)
202-207,6
国家重点基础研究发展计划(973计划)资助项目(2009CB724406)和陕西省自然科学研究计划资助项目(2011JM7015)
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