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通过对发电机运行中突然进相的现象、原因进行分析,阐述了进相对机组的影响,并提出了应对、处理措施,取得了较好的效果。 相似文献
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单级倒立摆LQR控制仿真 总被引:1,自引:0,他引:1
倒立摆是不稳定,非线性,强耦合系统,本文应用现代控制理论最优控制LQR方法对单级倒立摆系统进行仿真控制研究,仿真结果说明反馈控制理论对倒立摆系统的控制是有效的。 相似文献
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步态训练机器人人机系统动力学仿真 总被引:2,自引:1,他引:1
基于MATLAB对6自由度步态训练机器人的人机系统进行了动力学仿真研究.应用Newton-Euler法,推导了机器人的运动约束方程和动力学方程,构成了机器人的约束矩阵方程(constrained matrix equation,CME);分析了正常人在平地行走时的步态特征,并给出了人在行走时双足对地面的压力模型,利用MATLAB工具箱建立了人机系统动力学仿真模型,并对机器人跟踪人在平地行走的步态轨迹进行了仿真分析.仿真结果表明,步态训练机器人对人的双足负载具有良好的适应能力,可以方便获取机器人的动力学参数.该研究为实现机器人的控制及性能改进提供了理论依据. 相似文献
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Gait simulation of new robot for human walking on sand 总被引:1,自引:0,他引:1
In order to simulate the gait of human walking on different terrains a new robot with six degrees of freedom was proposed.
Based on sand bearing characteristic compliance control was introduced to control system in horizontal and vertical movement
directions at the end of the robot, and position control in attitude. With Matlab/Simulink toolbox, the system control models
were established, and the bearing characteristics of rigid ground, hard sand, soft sand and softer sand were simulated. The
results show that 0, 0.62, 0.89 and 1.12 mm are the maximal subsidences of the four kinds of ground along the positive direction
of x-axis, respectively, and 0, −0.96, −1.99 and −3.00 mm are the maximal subsidences along the negative direction of x-axis, respectively. Every subsidence along y-axis is negative, and 0, −4.12, −8.23 and −12.01 mm are the maximal subsidences of the four kinds of ground, respectively.
Simulation results show that the subsidence of footboard points to inferior anterior in early stage of stand phase, while
points to posterior aspect in late stage. The subsidence tends to point to posterior aspect in the whole. These results are
basically consistent with the gait characteristics of human walking on sand. Gait simulation of the robot for human walking
on sand is achieved. 相似文献
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