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阻性终端对雷电电流的影响
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作者 陈燕萍 陈慈萱 张群峰 《中国电力》 CSCD 北大核心 2003年第3期45-48,共4页
以VDTC(VariableDischargeTimeConstant-变化的放电时间常数雷电回击模型)雷电通道模型为基础,衍生出仿真雷电通道的等效电路,由此电路仿真出相应的雷电电流波形,此波形与原始雷电流波形特征参数较吻合;利用此等效电路进行仿真计算,探... 以VDTC(VariableDischargeTimeConstant-变化的放电时间常数雷电回击模型)雷电通道模型为基础,衍生出仿真雷电通道的等效电路,由此电路仿真出相应的雷电电流波形,此波形与原始雷电流波形特征参数较吻合;利用此等效电路进行仿真计算,探讨阻性终端对雷电电流的影响。研究结果表明,阻性终端对雷电电流具有一定的抑制作用。 展开更多
关键词 阻性终端 雷电电流 等效电路 电路仿真 电力系统
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A novel grasping force control strategy for multi-fingered prosthetic hand 被引量:4
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作者 张庭 姜力 刘宏 《Journal of Central South University》 SCIE EI CAS 2012年第6期1537-1542,共6页
A grasping force control strategy is proposed in order to complete various free manipulations by using anthropomorphic prosthetic hand. The position-based impedance control and force-tracking impedance control are use... A grasping force control strategy is proposed in order to complete various free manipulations by using anthropomorphic prosthetic hand. The position-based impedance control and force-tracking impedance control are used in free and constraint spaces, respectively. The fuzzy observer is adopted in transition in order to switch control mode. Two control modes use one position-based impedance controller. In order to achieve grasping force track, reference force is added to the impedance controller in the constraint space. Trajectory tracking in free space and torque tracking in constrained space are realized, and reliability of mode switch and stability of system are achieved. An adaptive sliding mode friction compensation method is proposed. This method makes use of terminal sliding mode idea to design sliding mode function, which makes the tracking error converge to zero in finite time and avoids the problem of conventional sliding surface that tracking error cannot converge to zero. Based on the characteristic of the exponential form friction, the sliding mode control law including the estimation of friction parameter is obtained through terminal sliding mode idea, and the online parameter update laws are obtained based on Lyapunov stability theorem. The experiments on the HIT Prosthetic Hand IV are carried out to evaluate the grasping force control strategy, and the experiment results verify the effectiveness of this control strategy. 展开更多
关键词 GRASPING impedance control force control sliding mode control prosthetic hand
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