基于稳定性原理的参数调节器在气动机械手中的应用

研究了关节型球面坐标气动机械手中的执行部件--气动摆缸的角位移控制方法.根据李亚普诺夫稳定性原理构造最优指标函数,由指标函数推导出使系统输出的跟踪误差趋于零的系统参数调节律,并通过仿真及实验分析了调参系数对气动摆缸角位移控制系统动态性能的影响.实验结果表明,基于稳定性原理的参数调节器使系统达到了对期望输出的精确跟踪,而且保持了控制过程中闭环系统的全局一致稳定性.

Application of Parameter Adjustors Based on Stability Theory to Pneumatic Manipulators

The control method of a rotary actuator, which is the executive organ of a pneumatic manipulator, was investigated. According to the stability theory, an optimal index function was constructed, and the adjustive law which could ensure the error between the system's output and the expected value tending to zero was deduced based on the index function. Through simulation and experiment, the influence of adjustive parameters on the dynamic performance of the system was also analyzed. The experimental result show that the parameter adjuster based on the stability theory can not only make the expected output of system tracking accurately, but also keep the stability of the closed-loop system.