|
|||||
|
|
| 装载机工作装置的模型与自适应迭代学习控制 | |
| 引用本文： | 鲁迎波,朱龙英. 装载机工作装置的模型与自适应迭代学习控制[J]. 科学技术与工程, 2012, 12(34): 9196-9202 |
| 作者姓名： | 鲁迎波 朱龙英 |
| 作者单位： | 1. 盐城工学院汽车工程学院,盐城,224001 2. 江苏大学机械工程学院,镇江,212013 3. 常州大学机械工程学院,常州,213164 |
| 摘 要： | 在理想情况下用牛顿-欧拉法建立装载机工作装置的二自由度动力学模型,考虑实际情况中存在的建模误差和扰动干扰,设计自适应迭代学习控制器对其进行轨迹跟踪控制研究,基于Lyapunov函数证明了跟踪误差的稳定性和收敛性,在matlab环境下对所设计的控制器进行仿真研究。仿真结果表明,所设计的控制器对装载机工作装置有极好追踪效果,验证了该算法的可行性与有效性。 |
| 关 键 词： | 装载机 工作装置 牛顿-欧拉方程 自适应迭代学习控制 轨迹跟踪 |
| 收稿时间： | 2012-07-15 |
| 修稿时间： | 2012-08-28 |
Modeling and Adaptive Iterative Learning Control of Working unit of Loader |
|
| luyingbo and zhulongying. Modeling and Adaptive Iterative Learning Control of Working unit of Loader[J]. Science Technology and Engineering, 2012, 12(34): 9196-9202 | |
| Authors: | luyingbo and zhulongying |
| Affiliation: | yancheng institute of technology |
| Abstract: | A two-degree dynamic model of working unit of loader is built based on Newton-Euler method in the ideal case.Considering the modeling errors and unknown disturbances in practical situation ,an adaptive iterative learning controller isdesigned for surveying of trajectory tracking control, stability and convergence of tracking errors are proven by lyapunovfunction.The simulation research is conducted on the designed controller under matlab environment, the result from the simulation shows that it has more excellent trajectory tracking effect,which further confirms the feasibility and vadility of the algorithm. |
| Keywords: | |
| 本文献已被 CNKI 万方数据 等数据库收录！ | |
| 点击此处可从《科学技术与工程》浏览原始摘要信息 | |
| 点击此处可从《科学技术与工程》下载全文 | |