摘要
提出了一种基于差动轮系的双电机关节驱动器设计方案并依据差动轮系原理设计了一种bangbang-PD轨迹跟踪控制算法,然后运用ADAMS和SIMULINK联合仿真,证实了该控制方法相对于传统单电机驱动器和PD控制算法的调整时间缩短0.1 s,并消除了超调和振荡。
Proposes a design scheme of joint drive based on the differential gear train and design a kind of bangbang-PD trajectory tracking control algorithm according to the principle of differential gear drive. Then use co simulation of ADAMS and SIMULINK,compared with the traditional scheme of single motor drive and PD control algorithm's simulation result, the adjustment time is shortened for 0.1 s;and oscillations is eliminated.
出处
《煤炭技术》
CAS
北大核心
2015年第4期305-307,共3页
Coal Technology
基金
山西省自然科学基金(20120321008-01)
