| 三轴转台的状态反馈解耦 |
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| 引用本文： | 于洪君,曾庆双,赵美玲. 三轴转台的状态反馈解耦[J]. 科学技术与工程, 2012, 12(22): 5556-5561 |
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| 作者姓名： | 于洪君 曾庆双 赵美玲 |
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| 作者单位： | 哈尔滨工业大学,哈尔滨工业大学,哈尔滨工业大学 |
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| 摘 要： | 为了解决三轴转台的非线性和耦合问题,根据其运动模式,建立了更为简洁的动力学模型。分析模型并从补偿柯式力的角度,提出用状态反馈抵消模型的非线性和耦合,给出无需加速度的状态反馈解耦算法。利用solidworks建立了转台的物理模型,然后利用cosmos/motion插件对模型进行运动学和动力学分析,并验证了所建模型的准确性和状态反馈解耦算法的有效性。
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| 关 键 词： | 三轴转台模型 状态反馈 解耦 cosmos/motion |
| 收稿时间： | 2012-04-20 |
| 修稿时间： | 2012-05-02 |
Decouple of Turntable by State Feedback |
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| Yu Hong-Jun,Zeng Qing-shuang and Zhao Mei-ling. Decouple of Turntable by State Feedback[J]. Science Technology and Engineering, 2012, 12(22): 5556-5561 |
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| Authors: | Yu Hong-Jun Zeng Qing-shuang Zhao Mei-ling |
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| Affiliation: | Harbin Institute of Technology,Harbin Institute of Technology |
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| Abstract: | Based on the structure, a simpler dynamic model of three axis turntable is brought up. According to the model, a state feedback controller is raised to combat coupling and nonlinearity. The model and the decouple algorithm are proved to be accurate and effective by solidworks and cosmos/motion, which paves the way for further studies. |
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| Keywords: | Turntable modeling State feedback Decouple Cosmos/motion |
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