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折扣與優(yōu)惠:團(tuán)購最低可5折優(yōu)惠 - 了解詳情 | 論文格式:Word格式(*.doc) | ![]() |
摘要:關(guān)節(jié)機(jī)器臂系統(tǒng)是一種非線性、精確、快速、穩(wěn)定的動態(tài)系統(tǒng),是研究各種控制理論和方法的對象之一。在控制過程中能有效地反映諸如可穩(wěn)定性、魯棒性以及跟蹤等許多控制中的關(guān)鍵問題。本文以雙關(guān)節(jié)機(jī)器臂系統(tǒng)為研究對象,研究其自適應(yīng)PD控制策略。利用動力學(xué)方程建立雙關(guān)節(jié)機(jī)器臂的數(shù)學(xué)模型,得出描述系統(tǒng)的微分方程。基于PD控制和自適應(yīng)控制設(shè)計(jì)雙關(guān)節(jié)機(jī)器臂的自適應(yīng)PD控制器,并對其進(jìn)行了李雅普諾夫穩(wěn)定性分析。在MATLAB/SIMULINK環(huán)境下,進(jìn)行了PD控制器和自適應(yīng)PD控制器仿真研究。仿真研究結(jié)果表明所設(shè)計(jì)的自適應(yīng)PD控制算法對雙關(guān)節(jié)機(jī)器臂進(jìn)行軌跡控制時(shí)能夠保證系統(tǒng)的穩(wěn)定,并在系統(tǒng)受到外部擾動和參數(shù)發(fā)生變化時(shí)能夠保證系統(tǒng)的穩(wěn)定性。 關(guān)鍵詞:雙關(guān)節(jié)機(jī)器臂;比例-微分控制;自適應(yīng)控制;軌跡跟蹤;計(jì)算機(jī)仿真
Abstract:The dynamic model of the joint robot arm, which is a dynamic system with nonlinearity, exactness, fast reaction and stability, has become an ideal object of control theory and method. Many key matters can be effectively reflected during the control process, such as steady, robustness and track issues .etc. In this paper, we use the two-joint robot arm system as a research object to research its adaptive PD control strategy. We use dynamics equation to build the mathematical model of the two-joint robot arm, and concludes the Descriptor System of differential equation. Based on PD control and adaptive control, an adaptive PD controller for the two-joint robot arm is designed and its stability is analyzed by Lyapunov theorem of stability. Under MATLAB/SIMULINK environment,we aimed at the simulation study of PD controller or adaptive PD controller. The simulation results show that the designed adaptive PD control algorithm can ensure the system stable when the two-joint robotic arm controls the trajectory or it is subject to external disturbances and parameter changes. Key words:The two-joint robot arm; PD control; Adaptive PD control; Trajectory tracking;Computer simulation
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