| 混合驱动平面五连杆机构优化设计与迭代学习控制 |
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| 引用本文： | 曹建斌,訾斌.混合驱动平面五连杆机构优化设计与迭代学习控制[J].机械传动,2011,35(6):1-5. |
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| 作者姓名： | 曹建斌 訾斌 |
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| 作者单位： | 中国矿业大学,机电工程学院,江苏徐州,221116 |
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| 基金项目： | 国家自然科学基金资助项目(50905179)中国博士后科学基金资助项目 |
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| 摘 要： | 对混合驱动平面五连杆机构进行了优化设计和轨迹跟踪迭代学习控制研究.首先,以伺服电机角加速度波动最小为目标函数,应用遗传算法对混合驱动平面五连杆机构参数进行优化设计;其次,对混合驱动平面五连杆机构进行轨迹跟踪指数变增益D型和闭环PD型迭代学习控制研究;最后,结合实例进行混合驱动平面五连杆机构轨迹跟踪数值仿真.结果表明,迭...
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| 关 键 词： | 混合驱动平面五连杆机构 优化设计 迭代学习控制 轨迹跟踪 |
Optimization Design and Iterative Learning Control of Hybrid-Driven Planar Five-bar Mechanism |
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| Cao Jianbin,Zi Bin.Optimization Design and Iterative Learning Control of Hybrid-Driven Planar Five-bar Mechanism[J].Journal of Mechanical Transmission,2011,35(6):1-5. |
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| Authors: | Cao Jianbin Zi Bin |
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| Affiliation: | Cao Jianbin Zi Bin(School of Mechanical and Electrical Engineering,China University of Mining and Technology,Xuzhou 221116,China) |
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| Abstract: | The study on optimization design and iterative learning trajectory tracking control of hybrid-driven planar five-bar mechanism is carried out.Firstly,genetic algorithm is applied to optimization design of the hybrid-driven planar five-bar mechanism parameters and minimize the accelerate fluctuation of the serve-motor for the optimized object.Then,gain coefficient variable D-type and closed loop PD-type iterative learning trajectory tracking control of the hybrid-driven planar five-bar mechanism are research... |
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| Keywords: | Hybrid-driven planar five-bar mechanism Optimization design Iterative learning control Trajectory tracking |
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