| 非线性系统解耦的递阶结构及在工业机器人中的应用 |
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| 引用本文： | 桂卫华. 非线性系统解耦的递阶结构及在工业机器人中的应用[J]. 中南大学学报(自然科学版), 1990, 0(5) |
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| 作者姓名： | 桂卫华 |
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| 作者单位： | 中南礦治学院自动控制工程系 |
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| 摘 要： | 本文研究了非线性动态系统解耦和调节的一种递阶结构,这种结构将集中式的功能分散化,具有便于多微处理器实现及实时在线控制的特点。文中将该结构应用于一个液压工业机器人(Fabrikat FIBRO)的控制中,并给出了仿真研究的结果。
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| 关 键 词： | 非线性系统 解耦 递阶结构 工业机器人 |
A HIERARCHICAL STRUCTURE FOR DECOUPLING AND CONTROL OF NONLINEAR SYSTEMS AND ITS APPLICATION TO THE INDUSTRIAL ROBOT |
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| Gui Weihua. A HIERARCHICAL STRUCTURE FOR DECOUPLING AND CONTROL OF NONLINEAR SYSTEMS AND ITS APPLICATION TO THE INDUSTRIAL ROBOT[J]. Journal of Central South University:Science and Technology, 1990, 0(5) |
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| Authors: | Gui Weihua |
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| Affiliation: | Department of Automatic Control Engineering |
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| Abstract: | This paper presents a hierarchical structure for nonlinear decoupling andcontrol of dynamic systems.By the hierarchical structure nonlinear systemsare decentralized and decoupled.An arbitrary dynamic for each of thedecoupled subsystems is permitted.The structure is appropriate to implementa-tion with multimicroprocessors and is an example used to control thedynamicmodel of an industial robot(Fabrikat FIBRO)which is highly nonlinear andcontains nonlinear couplings between the variables of motion.In this paperthe results of simulation study are given. |
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| Keywords: | Nonlinear systems decoupling hiearchical structure industrial robot |
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