| 双拇指手的位置伺服控制及抑制抖动研究 |
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| 引用本文： | 赵宏才,王永德,陈晓维. 双拇指手的位置伺服控制及抑制抖动研究[J]. 青岛建筑工程学院学报, 2010, 0(4): 88-92,103 |
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| 作者姓名： | 赵宏才 王永德 陈晓维 |
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| 作者单位： | [1]青岛理工大学自动化工程学院,青岛266033 [2]青岛理工大学通信与电子工程学院,青岛266033 |
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| 摘 要： | 以双拇指手为控制对象,讨论了数字三环控制和滑模变结构控制方法,同时讨论了抖动的影响以及抑制抖动的方法.结果表明滑模变结构控制可以改善系统的控制性能,引入饱和函数后抑制抖动效果明显.滑模变结构控制优于三环控制.
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| 关 键 词： | 双拇指手 三环控制 滑模变结构控制 抑制抖动 |
Research on Position Servo Control and Alleviation Chattering for the Dual-Thumbed Hand |
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| ZHAO Hong-caia,WANG Yong-dea,CHEN Xiao-wei. Research on Position Servo Control and Alleviation Chattering for the Dual-Thumbed Hand[J]. Journal of Qingdao Institute of Architecture and Engineering, 2010, 0(4): 88-92,103 |
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| Authors: | ZHAO Hong-caia WANG Yong-dea CHEN Xiao-wei |
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| Affiliation: | b(a.School of Automatic Engineering;b.School of Communication and Electronic Engineering,Qingdao Technological University,Qingdao 266033,China) |
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| Abstract: | This paper deals with the position servo control and alleviation chattering for a dual-thumbed hand.The digital three-loop control and sliding mode variable structure control are discussed.The effect of chattering and the method of alleviation chattering are discussed too.As a result,the sliding variable structure control can improve the control performances of the system.Better results are obtained through adding saturating function to the controller.Sliding mode variable structure control is better than three-loop control for the dual-thumbed hand. |
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| Keywords: | dual-thumbed hand three-loop control sliding variable structure control alleviation chattering |
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