农业机械学报2012，Vol.43Issue(1)：202-207,6.DOI:10.6041/j.issn.1000-1298.2012.01.036
基于稳定性的并联机构自适应控制
Adaptive Controller for Parallel Mechanism Based on Stability
摘要
Abstract
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 derived by stability theory, and the practical mechanism had the same dynamic characteristics as parameter model. Example showed that adaptive controller could effectively restrain motion error which caused by parameter variations and un-modeled error, the mechanism has high tracking precision to planed target movement.关键词
并联机构/稳定性/自适应控制Key words
Parallel mechanism/ Stability/ Adaptive control分类
机械制造引用本文复制引用
鲁开讲,师俊平,淡卜绸..基于稳定性的并联机构自适应控制[J].农业机械学报,2012,43(1):202-207,6.基金项目
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) （973计划）
