摘要
研究了用于机械手直接驱动的开关磁阻电动机(简称SSR电动机未建用实验的方法确定。在该模型基础上,设计了一个鲁棒控制器,它能够产生一个辅助输入,抵消模型不确定性对控制系统品质的影响。理论分析表明在鲁棒控制器的控制之下,系性。
This paper considers the robust control of a switched reluctance (SR) motor for driving a[( )-416.2(manipulator)-0.3( )]directly. A mathematical model of the SR motor with un-modeled dynamics is proposed. The scope of the un-modeled dynamics can be evaluated by some experiments. Based on this model, a robust controller is designed. It produces a robust auxiliary input to overcome the influence of the model uncertainies[( )(on)] the system performance. It is shown by analysis results that the trajectory error is convergent. And also it is proved by simulations that the theory analysis is correct and feasible.
出处
《中国电机工程学报》
EI
CSCD
北大核心
2002年第12期66-69,96,共5页
Proceedings of the CSEE
基金
国家自然科学基金"两个基地"项目(5991076861)。
关键词
机械手
直接驱动
开关磁阻电动机
鲁棒控制
KEY WORD: manipulator
[( )-166.7(d)]irect drive
switched reluctance motor
robust control
