摘要
为解决当前机器人履带速度控制效果不佳,精准度低等问题,基于混杂系统特性对机器人履带速度自动控制技术进行优化。首先通过对基于混杂系统的速度控制结构进行改善,简化机器人履带速度控制步骤,并对机器人履带移动速度控制算法进行优化,根据履带运行的速度值对控制效果进行强化,从而实现对履带素对的有效控制。最后通过实验证实,基于混杂系统特性的机器人履带速度自动控制技术相对于传统控制技术有更高的时效性和准确性。
In order to solve the problems of poor control effect and low accuracy of robot track speed,an optimization method of robot track speed automatic control technology based on hybrid system characteristics is proposed.Firstly,through simulating the two-dimensional coordinates of the robot operation,the standard speed of crawler belt transmission during the robot operation is calculated,and the control structure is optimized according to the speed value,thus realizing effective control of crawler belt element pairs.Finally,the experiment proves that the robot track speed automatic control technology based on hybrid system characteristics has higher timeliness and accuracy than the traditional control technology.
作者
吕燕
赖旭芝
蔡葵
LV Yan;LAI Xuzhi;CAI Kui(Shanxi radio and television university,Xi'an 710065,China;China university of geosciences,Hubei 430000,China;Northwestern Polytechnical University,Xi’an 710065,China)
出处
《自动化与仪器仪表》
2019年第11期211-214,共4页
Automation & Instrumentation
基金
国家自然科学基金:基于自动状态约束的平面欠驱动机械系统控制方法(No.61374106)
