摘要
采用离散形式的微分跟踪器构造了非线性PID控制器,将其应用于并联机器人单通道控制,从试验结果来看,该控制器有很好的动态性能,能达到很好的控制精度,能很好地跟踪低频率的信号。
A non -linear PID controller was constructed by using discrete differential -tracker. The controller was applied to the single channel control of parallel robot. The experiment result shows that the designed controller has excellent dynamic capability, and has good control precision, it can track the low frequency signal.
出处
《机床与液压》
北大核心
2006年第10期89-91,共3页
Machine Tool & Hydraulics
关键词
离散微分跟踪器
并联机器人
单通道
Discrete differential- tracker
Parallel robot
Single channel
