摘要
从控制的观点来看,装载系统代表多变量的、非线性的和复杂的动力学耦合系统。考虑到拉格朗日法建立的二自由度装载系统动力学模型在现实情况中存在不稳定性和建模误差。在J E SLOTINE提出的自适应控制方法的基础上,构造李雅谱诺夫(Lyapunov)函数,设计自适应控制器,对关节位置和速度进行轨迹跟踪研究,并用Matlab进行仿真。仿真结果表明关节速度稳态误差和位置稳态误差为零,验证了控制器的有效性和可行性。
From the control point of view,the loading system represents a dynamic coupling system of multiple variables,nonlin-ear and complex. It was considered that the two degree of freedom （2-DOF）dynamic model of the loading system based on Lagrange method had the instability and modeling errors in reality. Based on adaptive control method proposed by J.E SLOTINE,the Lyapunov function was constructed and an adaptive controller was designed for the analysis of the joint trajectory tracking of position and velocity, and simulated using Matlab. The simulation results show that the joint velocity stability error and position stability error are zero,verif-ying the effectiveness and practicability of the controller.
出处
《机床与液压》
北大核心
2014年第21期84-87,共4页
Machine Tool & Hydraulics
