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基于PC/104与单片机的仿人机器人控制系统设计 被引量:2
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作者 陶龙 张国良 孙大卫 《现代电子技术》 2009年第2期145-147,共3页
为了简化仿人机器人控制系统结构,增强机器人系统的功能。采用PC/104嵌入式系统作为仿人机器的主控计算机,完成图像处理,做出控制决策,计算并生成运动序列。关节控制器选用C8051F310单片机,采用串口与主控计算机通信,接收来自主控计算... 为了简化仿人机器人控制系统结构,增强机器人系统的功能。采用PC/104嵌入式系统作为仿人机器的主控计算机,完成图像处理,做出控制决策,计算并生成运动序列。关节控制器选用C8051F310单片机,采用串口与主控计算机通信,接收来自主控计算机的运动序列指令,产生PWM波,经过放大电路,实现21路电机的控制。经过实验,得到图像采集分析结果和仿人机器人稳态步行。实验表明,这种控制系统能够实现仿人机器人的控制。 展开更多
关键词 仿人机器人 主控制计算机 关节控制 PWM波
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A tunable fuzzy logic controller for the vehicle semi-active suspension system
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作者 方子帆 DENG +1 位作者 Zhaoxiang 《Journal of Chongqing University》 CAS 2002年第2期16-19,共4页
On the basis of analyzing the system constitution of vehicle semi-active suspension, a 4-DOF (degree of freedom) dynamic model is established. A tunable fuzzy logic controller is designed by using without quantificati... On the basis of analyzing the system constitution of vehicle semi-active suspension, a 4-DOF (degree of freedom) dynamic model is established. A tunable fuzzy logic controller is designed by using without quantification method and taking into account the uncertainty, nonlinearity and complexity of parameters for a vehicle suspension system. Simulation to test the performance of this controller is performed under random excitations and definite disturbances of a C grade road, and the effects of time delay and changes of system parameters on the vehicle suspension system are researched. The numerical simulation shows that the performance of the designed tunable fuzzy logic controller is effective, stable and reliable. 展开更多
关键词 VEHICLE semi-active suspension system fuzzy logic control SIMULATION
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