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| 基于机器鱼尾鳍推进伺服系统的改进控制算法 | |
| 引用本文： | 张毅,邓皓文,刘洪昌,付文勇. 基于机器鱼尾鳍推进伺服系统的改进控制算法[J]. 重庆邮电学院学报(自然科学版), 2009, 0(1) |
| 作者姓名： | 张毅 邓皓文 刘洪昌 付文勇 |
| 作者单位： | 重庆邮电大学智能系统与机器人研究所; |
| 基金项目： | 国家外专局项目(20075000028);;重庆市科委项目(CSTC2006BB3041) |
| 摘 要： | 机器鱼多关节尾鳍受外界负载变化及伺服系统机械结构本身特性的影响会使速度和位置曲线失真,从而影响机器鱼的推进效率。针对机器鱼的尾部推进伺服系统的性能需求,分别用PI(比例-积分)控制器和IP(积分-比例)控制器对直流伺服系统模型建立PWM驱动数字型调速系统,并对PI和IP这2种控制方式的性能进行分析和比较。通过仿真实验表明,IP控制比PI控制性能优良,能满足机器鱼推进系统的需要。 |
| 关 键 词： | 机器鱼 直流伺服系统 积分-比例控制 |
Modified control of tail fin servo system of robot-fish |
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| ZHANG Yi,DENG Hao-wen,LIU Hong-chang,FU Wen-yong. Modified control of tail fin servo system of robot-fish[J]. Journal of Chongqing University of Posts and Telecommunications(Natural Sciences Edition), 2009, 0(1) | |
| Authors: | ZHANG Yi DENG Hao-wen LIU Hong-chang FU Wen-yong |
| Affiliation: | Research Center of Intelligent System and Robotics;Chongqing University of Posts and Telecommunications;Chongqing 400065;P.R.China |
| Abstract: | The tail fin with two degrees of the robot-fish under the change of heavy load and the influence of characteristic of electromotor will make the distortion of transformation of speed and position synchronously,and bring on anisomerous flaping of the tail fin.A numeral timing system driven by PWM was set up for DC servo motor to analyze and compare the performance of PI controller and IP controller.Simulation result shows that the performance of IP controller is better than that of PI controller,and it could... |
| Keywords: | robot-fish DC servo system IP controller |
| 本文献已被 CNKI 等数据库收录！ | |