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针对码垛机械臂系统中存在死区特性影响控制精度的问题,提出一种基于模糊自适应的死区补偿算法.首先,根据死区非线性特性设计模糊死区补偿器对系统中的非线性环节进行补偿和控制;其次,利用模糊自适应算法对变量进行实时整定,从而使得轨迹跟踪误差趋于零;最后,借助MATLAB对理论结果实施验证.结果表明所提的控制算法具有良好的稳定性... 相似文献
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CAO Jian ZHU Xiaocong TAO Guoliang YAO Bin 《机械工程学报(英文版)》2009,22(3):433-439
When adaptive robust control(ARC) strategy based on backstepping design is applied in pneumatic servo control, accurate pressure tracking in motion is especially necessary for both force and position trajectories tracking of rodless pneumatic cylinders, and therefore an adaptive robust pressure controller is developed in this paper to improve the tracking accuracy of pressure trajectory in the chamber when the pneumatic cylinder is moving. In the proposed adaptive robust pressure controller, off-line fitting of the orifice area and on-line parameter estimation of the flow coefficient are utilized to have improved model compensation, and meanwhile robust feedback and Kalman filter are used to have strong robustness against uncertain nonlinearities, parameter fluctuations and noise. Research results demonstrate that the adaptive robust pressure controller could not only track various pressure trajectories accurately even when the pneumatic cylinder is moving, but also obtain very smooth control input, which indicates the effectiveness of adaptive model compensation. Especially when a step pressure trajectory is tracked under the condition of the movement of a rodless pneumatic cylinder, maximum tracking error of ARC is 4.46 kPa and average tracking error is 0.99 kPa, and steady-state error of ARC could achieve 0.84 kPa, which is very close to the measurement accuracy of pressure transducer. 相似文献
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为提高电液负载模拟器的跟踪精度,针对其存在的大量非线性特性和模型不确定性等问题,建立了系统非线性数学模型,基于传统的误差符号积分鲁棒控制方法,融合自适应控制的思想,设计了一种自适应误差符号积分鲁棒控制方法。该方法无需获知模型不确定性的确切界,其积分鲁棒增益的取值可在线调节,更好地克服了模型不确定性对系统的影响,在舵机运动干扰作用下实现了系统的渐近稳定性能。仿真对比结果验证了该控制方法的优良性能。 相似文献
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CAO Zhengcai ZHAO Yingtao WU Qidi College of Information Science Technology Beijing University of Chemical Technology Beijing China State Key Laboratory of Robotics System Harbin Institute of Technology Harbin China CIMS Research Center Tongji University Shanghai China 《机械工程学报(英文版)》2011,(4)
As one of the core issues of the mobile robot motion control, trajectory tracking has received extensive attention. At present, the solution of the problem only takes kinematic or dynamic model into account separately, so that the presented strategy is difficult to realize satisfactory tracking quality in practical application. Considering the unknown parameters of two models, this paper presents an adaptive controller for solving the trajectory tracking problem of a mobile robot. Firstly, an adaptive kinem... 相似文献
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凿岩机器人轨迹跟踪自适应预测控制 总被引:3,自引:0,他引:3
将一种输入输出增量式线性时变模型作为对象的实时预测模型 ,采用加权限定记忆回归法来估计模型参数 ,进而提出一种自适应预测控制策略 ,并给出了单步预测最优控制律。简要介绍了凿岩机器人双三角钻臂的结构和运动特性 ,随后将本文提出的自适应预测控制策略用于双三角钻臂轨迹跟踪控制 ,仿真结果表明了该控制策略的可行性。 相似文献
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《机械传动》2016,(5)
轮式机器人具有复杂多变的非线性、强耦合以及时变的动力学特点,采用传统的机器人轨迹跟踪控制容易产生较大的速度突变,导致机器人在控制过程中产生抖振现象,为此提出了一种基于参数自适应神经动力力学的轮式机器人轨迹跟踪控制方法。通过运动学分析并建立轮式机器人的位姿误差模型,采用神经动力学设计机器人轨迹跟踪控制器;分析比较不同参数取值与控制量之间的关系,设计了一种参数自适应方法进一步提高轨迹跟踪控制器的性能;最后,通过对所设计的控制方法进行了仿真实验。实验结果表明,所设计的控制方法能够保证机器人拥有较小的速度突变,在出现误差情况下能够以较快速度收敛,在轨迹跟踪上拥有较高的精度。 相似文献
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电液位置伺服系统的自适应滑模鲁棒跟踪控制 总被引:2,自引:0,他引:2
针对存在参数不确定性的电液位置伺服系统的跟踪控制问题,基于滑模控制理论,提出了一种具有参数自适应能力的自适应滑模控制方法。通过自适应方法,来消除参数不确定性对系统控制性能的影响,进而实现鲁棒控制。基于李雅普诺夫稳定性理论证明了自适应滑模控制系统的渐近稳定性。将该方法应用于某疲劳试验机电液伺服系统的跟踪控制,仿真和实时控制结果证明了该方法的有效性。 相似文献
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针对现有重载工业机器人缺乏力控功能而难以满足去毛刺、倒角和磨抛等连续接触式作业要求的问题,提出一种含氮气弹簧的气电直驱式3-P(UU)2型三平动力控末端执行器,采用鲁棒自适应力跟踪导纳控制算法实现操作空间中接触面法向输出力的快速跟踪,适用于工件内外侧面、孔洞和狭小结构的机器人磨抛等过程。建立机构正逆运动学与气电直驱致动器动力学模型,并设计了鲁棒自适应力跟踪导纳控制器。实验结果表明,基于鲁棒自适应力跟踪导纳控制的三平动力控末端执行器力阶跃响应的稳态误差为-4.5×10-4 N,上升时间19.27 ms,可实现力的快速精确跟踪;负载冲击下力的调整时间116.0 ms,最大超调量57.5%,具有良好的缓冲吸振特性与鲁棒性;在平面往复运动与圆柱面连续运动工况下,力均方根误差0.143 N,冲击峰值均值0.694N,对不同材质工具磨头的接触刚度变化与环境位移误差的适应性好,可提升工业机器人的连续接触式作业质量并拓宽其应用范围。 相似文献
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柔性和摩擦力不确定条件下RBF神经网络自适应轨迹跟踪方法 总被引:3,自引:0,他引:3
提出一种基于径向基神经网络(Radial basis function, RBF)的力/位置混合自适应控制方法并用于机器人轨迹跟踪控制,解决机器人柔性末端执行器轨迹跟踪过程中柔性和摩擦力模型难以精确描述的问题。RBF神经网络是一种高效的前馈式神经网络,具有其他前向网络所不具有的非线性逼近性能和全局最优特性,并且网络结构简单,训练速度快。设计一种基于RBF神经网络非线性逼近能力来估计模型中的不确定参数的自适应控制器,给出控制器中神经网络权值更新规则,并证明所设计控制器输出力和位置误差的最终一致有界性。将该控制器应用于风管清扫机器人仿真试验,结果表明该自适应控制器能很好地用于柔性和摩擦力不确定条件下轨迹跟踪控制,与传统自适应控制方法相比具有更精确的跟踪特性和更强的鲁棒性。 相似文献
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A comparative study of model predictive control(MPC) schemes and robust H_∞ state feedback control(RSC) method for trajectory tracking is proposed in this paper. The main objective of this paper is to compare MPC and RSC controllers' performance in tracking predefined trajectory under different scenarios. MPC controller is designed based on the simple longitudinal-yaw-lateral motions of a single-track vehicle with a linear tire, which is an approximation of the more realistic model of a vehicle with double-track motion with a non-linear tire mode. RSC is designed on the basis of the same method as adopted for the MPC controller to achieve a fair comparison. Then, three test cases are built in CarSim-Simulink joint platform. Specifically, the verification test is used to test the tracking accuracy of MPC and RSC controller under well road conditions. Besides, the double lane change test with low road adhesion is designed to find the maximum velocity that both controllers can carry out while guaranteeing stability. Furthermore, an extreme curve test is built where the road adhesion changes suddenly, in order to test the performance of both controllers under extreme conditions. Finally, the advantages and disadvantages of MPC and RSC under different scenarios are also discussed. 相似文献
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ABSTRACTTo improve the wear resistance of disc cutters for tunnel boring machines (TBMs), this study is devoted to investigating the effects of rocks and cutter ring properties on the wear behaviors of disc cutters and the matching characteristics between the cutter ring properties and hard rocks. Cutter–rock wear tests were performed and the results show that the cutter ring properties and rock types significantly affect the cutter ring wear. The mass losses of cutter ring samples sliding against different types of hard rock are different and vary with the cutter ring properties because of the discrepancies in loads, vibrations, rock properties, and transition of the wear mechanisms. Finally, matching characteristics between the cutter ring properties and hard rocks are revealed. 相似文献
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基于面积误差评价的轨迹跟踪数字式最优预见控制 总被引:1,自引:0,他引:1
研究在数字最优预见控制中以面积误差作为评价函数的轨迹跟踪最优预见控制方法。首先 ,分析了轨迹跟踪控制的特点和一些问题 ,依次建立了基于面积误差的轨迹跟踪性能评价函数 ,从而获得轨迹跟踪的最优预见控制算法 ;然后对一个简易工作平台系统的轨迹跟踪问题进行了仿真验证。结果表明基于面积误差评价的最优预见控制方法是能够提高路径控制精度的一种有效方法。 相似文献