摘要
混合输入平面五杆机构具有两个自由度,其动力学模型是一个高度非线性和强耦合系统。基于李亚普诺夫函数、利用滑模变结构控制理论(slid ing mode control)设计了控制器,并对系统进行了控制仿真。仿真结果表明,在不改变机构结构和进行质量重布的情况下,就可以实现较高精度的轨迹跟踪。理论分析证明,所设计的滑模变结构控制器是全局稳定的。
A hybrid input planar five-bar mechanism has two degrees of freedom, and its dynamic model is a highly nonlinear and strong coupling system. This paper presents the control simulation of the system by using the controller designed by Lyapunov and the sliding mode control theory. The simulation results show that the sliding mode controller performs a highly exact trajectory tracking with no necessity to change the machine＇s structure and carry out mass-redistrlbution. Theoretical analysis proves that the sliding mode controller is globally stable.
出处
《机械科学与技术》
CSCD
北大核心
2006年第2期207-209,237,共4页
Mechanical Science and Technology for Aerospace Engineering
基金
国家自然科学基金项目(50175093)资助
