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步进电机闭环控制的研究 被引量:4
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作者 任晓虹 周启炎 孟丽荣 《沈阳工业学院学报》 2003年第2期7-9,共3页
分析了步进驱动系统的工作特性及影响系统精度的因素 ,从控制理论的角度提出了对步进驱动系统进行闭环控制的方法 ,为设计提供了理论依据 .
关键词 步进电机 闭环控制 数控系统 伺服电机 系统结构设计 精度 步距角 位置检测环节 闭环位置控制器 传动机构 稳态误差 补偿方法 前馈控制器
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Solving position-posture deviation problem of multi-legged walking robots with semi-round rigid feet by closed-loop control 被引量:1
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作者 陈刚 金波 陈鹰 《Journal of Central South University》 SCIE EI CAS 2014年第11期4133-4141,共9页
The semi-round rigid feet would cause position-posture deviation problem because the actual foothold position is hardly known due to the rolling effect of the semi-round rigid feet during the robot walking. The positi... The semi-round rigid feet would cause position-posture deviation problem because the actual foothold position is hardly known due to the rolling effect of the semi-round rigid feet during the robot walking. The position-posture deviation problem may harm to the stability and the harmony of the robot, or even makes the robot tip over and fail to walk forward. Focused on the position-posture deviation problem of multi-legged walking robots with semi-round rigid feet, a new method of position-posture closed-loop control is proposed to solve the position-posture deviation problem caused by semi-round rigid feet, based on the inverse velocity kinematics of the multi-legged walking robots. The position-posture closed-loop control is divided into two parts: the position closed-loop control and the posture closed-loop control. Thus, the position-posture control for the robot which is a tight coupling and nonlinear system is decoupled. Co-simulations of position-posture open-loop control and position-posture closed-loop control by MATLAB and ADAMS are implemented, respectively. The co-simulation results verify that the position-posture closed-loop control performs well in solving the position-posture deviation problem caused by semi-round rigid feet. 展开更多
关键词 position-posture deviation semi-round rigid feet closed-loop control multi-legged walking robots
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