摘要
在三轴转台机电系统动力学模型的基础上,依据非线性解耦控制理论设计了一种非线性解耦控制器,利用MATLAB中的Simulink平台建立了三轴转台的机电系统控制仿真模型,进行了系统的未解耦及解耦的控制仿真。
On the base of the mechtronical system dynamics model of the three - axis simulator, according to general nonlinear decoupling control theory, a nonlinear decoupled controller was designed. Using Simulink software, mechtronical system control simulation model of the three - axis simulator was set up, its decoupling control simulation and unattached single joint PD control simulation are done. The simulation result showed that the inertia coupling.
出处
《煤矿机械》
北大核心
2006年第3期411-414,共4页
Coal Mine Machinery
关键词
三轴转台
动力学模型
非线性解耦控制
系统仿真
three - axis turntable
dynamics model
nonlinear decoupling control
system simulation
