| 四足步行机伺服系统的稳定性分析 |
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| 引用本文： | 潘俊民,程君实.四足步行机伺服系统的稳定性分析[J].上海交通大学学报,1991,25(1):95-104. |
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| 作者姓名： | 潘俊民 程君实 |
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| 作者单位： | 上海交通大学信息与控制工程系
(潘俊民，吴立卫，汪琼)，上海交通大学信息存储研究中心(程君实) |
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| 摘 要： | 在用模拟电路实现的四足步行机伺服系统中,为了保证步行机能按较高速度运行,伺服系统往往需有一段时间工作在饱和状态.本文用第二方法对伺服系统工作在线性区域和饱和区域进行了分析,提出了一种新的函数,从理论上说明了系统结构和参数选择的正确性和系统的大范围稳定性.
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| 关 键 词： | 机器人 步行机 四足 伺服系统 |
Stability Analysis of a Quadrupled Walking Robot Servo System |
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| Pan Junmin Wu Liwei Wang Qiong Cheng Junshi.Stability Analysis of a Quadrupled Walking Robot Servo System[J].Journal of Shanghai Jiaotong University,1991,25(1):95-104. |
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| Authors: | Pan Junmin Wu Liwei Wang Qiong Cheng Junshi |
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| Institution: | Pan Junmin Wu Liwei Wang Qiong Cheng Junshi |
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| Abstract: | The quadrupled walking robot servo system that is realized withanalog circuits usually has to work in a saturated region at a certain timeto ensure the walking robot to move at a higher speed.In this paper thesaturated region of the servo system are analyzed via Liapunov's secondmethod and a new Liapunov function is proposed.As a result the correctnessof the structure and the parameters of the servo system and the stablilityin-the-large of the servo system are proved theoretically. |
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| Keywords: | servo systems stability quadrupled walking robot Liapunov function |
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