针对爬楼轮椅前腿的位姿调节机构在工作时不能同时触地及受力失衡等问题,文中提出基于模糊比例-积分-微分(Proportional Integral Derivative, PID)的前腿同步位姿调节控制策略。首先,建立了前腿位姿调节机构驱动装置的数学模型。其次,...针对爬楼轮椅前腿的位姿调节机构在工作时不能同时触地及受力失衡等问题,文中提出基于模糊比例-积分-微分(Proportional Integral Derivative, PID)的前腿同步位姿调节控制策略。首先,建立了前腿位姿调节机构驱动装置的数学模型。其次,根据爬楼轮椅工作要求设定合适的阈值,通过偏差大小来选用最优的控制算法,建立了基于模糊控制策略与模糊自适应PID控制策略。最后,结合模糊PID复合控制模型,实现前腿机构在复杂工况下的有效控制。实验结果表明:采用模糊PID的前腿同步控制系统超调量较小,达到稳态的时间更少,具有较高的稳定性。展开更多
Based on field visit and interview,the current situation of snow village in China is summarized from four aspects:core scenic spots in snow village,skiing industry in snow village,film and television industry in snow ...Based on field visit and interview,the current situation of snow village in China is summarized from four aspects:core scenic spots in snow village,skiing industry in snow village,film and television industry in snow village,and ice and snow agritainment.The investigation found that there are still significant problems in homogenization,scenic area infrastructure,and government regulation in snow village.Targeted solutions are proposed from four aspects:tapping internal advantages,strengthening top-level design and infrastructure construction,promoting tourism industry upgrading,and collaborating to innovate the ice and snow tourism supply chain,in order to further promote the economic development of snow village.展开更多
文摘针对爬楼轮椅前腿的位姿调节机构在工作时不能同时触地及受力失衡等问题,文中提出基于模糊比例-积分-微分(Proportional Integral Derivative, PID)的前腿同步位姿调节控制策略。首先,建立了前腿位姿调节机构驱动装置的数学模型。其次,根据爬楼轮椅工作要求设定合适的阈值,通过偏差大小来选用最优的控制算法,建立了基于模糊控制策略与模糊自适应PID控制策略。最后,结合模糊PID复合控制模型,实现前腿机构在复杂工况下的有效控制。实验结果表明:采用模糊PID的前腿同步控制系统超调量较小,达到稳态的时间更少,具有较高的稳定性。
文摘Based on field visit and interview,the current situation of snow village in China is summarized from four aspects:core scenic spots in snow village,skiing industry in snow village,film and television industry in snow village,and ice and snow agritainment.The investigation found that there are still significant problems in homogenization,scenic area infrastructure,and government regulation in snow village.Targeted solutions are proposed from four aspects:tapping internal advantages,strengthening top-level design and infrastructure construction,promoting tourism industry upgrading,and collaborating to innovate the ice and snow tourism supply chain,in order to further promote the economic development of snow village.
