| 自适应控制用于机器人伺服驱动 |
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| 引用本文： | 陈敏逊,张挺.自适应控制用于机器人伺服驱动[J].上海交通大学学报,1992,26(2):114-119. |
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| 作者姓名： | 陈敏逊 张挺 |
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| 作者单位： | 上海交通大学自动控制系
(陈敏逊)，上海交通大学自动控制系(张挺) |
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| 摘 要： | 本文提出一种适用于机器人关节驱动的无刷直流电动机自适应位置伺服控制系统.提出的方法基于双自适应控制环的设计,能迅速抑制由于参数变化和扰动所引起的状态误差.在实验系统中,采用以8031单片机控制系统和功率MOSFET逆变器组成的无刷直流电机伺服系统,试验证明所提出的方法对于提高系统的鲁棒性是有效的.
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| 关 键 词： | 机器人 伺服系统 自适应控制 |
Application of Adaptive Position Control in Robotic Servo System |
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| Chen Mingxun Zhang Ting.Application of Adaptive Position Control in Robotic Servo System[J].Journal of Shanghai Jiaotong University,1992,26(2):114-119. |
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| Authors: | Chen Mingxun Zhang Ting |
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| Institution: | Chen Mingxun Zhang Ting |
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| Abstract: | This paper proposesa new linear adaptive position control system of
brushless DC servo motor which is used to drive a robot's arm.The proposed
method can rapidly suppress the state error caused by both parameter variations
and force disturbance.This method is based on the dual adaptive control loop.
The drive system using this dual loop can realize strictly robust control of the
brushless DC servo motor.Experimental results based on a single-chip microcom-
puter 8031 control system and a power MOSFET inverter-fed motor drive system
are presented to illustrate the effectiveness of the proposed method for the robust
control. |
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| Keywords: | adaptive control servo system brushless DC motor robotics robustness |
| 本文献已被 CNKI 维普 等数据库收录！ |
