| 并联机器人分离干扰器的离散变结构控制研究 |
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| 引用本文： | 高国琴,伍超. 并联机器人分离干扰器的离散变结构控制研究[J]. 微计算机信息, 2006, 22(32): 247-249 |
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| 作者姓名： | 高国琴 伍超 |
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| 作者单位： | 212013,江苏,镇江市江苏大学电气信息工程学院 |
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| 基金项目： | 国家自然科学基金;江苏省教育厅资助项目 |
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| 摘 要： | 本文针对一种以步进电机驱动的少自由度并联机器人,采用带分离干扰补偿器的离散变结构控制器。仿真结果表明该算法解决了传统变结构控制在数字实现时的抖振问题,且系统抗干扰能力强,对系统参数变化不敏感,具有良好的跟踪性能,实现了对该并联机器人机构的高精度实时控制。
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| 关 键 词： | 并联机器人 离散变结构控制 分离干扰补偿器 |
| 文章编号： | 1008-0570(2006)11-2-0247-03 |
| 修稿时间： | 2006-03-26 |
Discrete-time Variable Structure Control with a Discoupled Disturbance Compensator for Parallel Robot |
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| GAO GUOQIN,WU CHAO. Discrete-time Variable Structure Control with a Discoupled Disturbance Compensator for Parallel Robot[J]. Control & Automation, 2006, 22(32): 247-249 |
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| Authors: | GAO GUOQIN WU CHAO |
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| Abstract: | For a low-DOF parallel robot which drived by step motor, this paper proposes a discrete-time variable structure controller with a discoupled disturbance compensator.It is shown from the simulation results that the parallel robot system using the proposed control algorithm, in digital implementation, does not have the chattering problem which is in the system using traditional VSC. The system is robust to the system uncertainties and disturbances, and has good performance in tracking. The high-accuracy control of the parallel robot mechanism is achieved. |
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| Keywords: | parallel robot discrete-time variable structure control discoupled disturbance compensator |
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