摘要
研究了一种改进的开闭环控制(OPC控制)方法,将这种方法应用于二连杆机构的同步运动控制,实现了二连杆机构的小幅摆和大回环两种同步运动形式.通过仿真,对比了二连杆机构的同步的不同运动特征,并对不同控制参数对同步过程的影响进行了研究.
An improved OPCL method was developed and applied to both the small swing and the giant rotation synchronization of a two-link mechanism. Transition processes of the two kinds of synchronization were also discussed. Comparisons of different motion characteristics of the two-link synchronizations and the effects of different control parameters on the synchronous processes were investigated through numerical simulations.
出处
《应用数学和力学》
EI
CSCD
北大核心
2008年第12期1417-1425,共9页
Applied Mathematics and Mechanics
基金
国家自然科学基金资助项目(1040200850535010)
教育部科学技术研究(重点)资助项目(108037)
关键词
二连杆机构
控制同步运动
改进的OPCL控制
two-link mechanism
controlled synchronization motions
improved OPCL method
