基于重复控制的平面可控机构控制系统研究

Study on the Control System of Planar Programmable Mechanism Based on Repetitive Control Strategy

混合驱动连杆机构系统是一种新型的可控机构,其控制系统要求实现高精度的跟随运动。这里基于复合控制的思想,设计了基于重复控制补偿的PID控制系统。仿真结果表明,该方法可以显著提高系统精度,具有良好的控制性能。

Hybrid driving linkage mechanism is a new type of mechanism. By means of control system of hybrid driving linkage mechanism, follow motion of high tracking precision can be performed. PID control system based on repetitive control strategy is used in this paper. Simulation results show that this method can improve the control effect remarkably.