摘要
本文论述了一种首先应用阶跃响应的面积法得到开环系统的辨识模型，然后结合对开环辨识模型的根轨迹分析进行闭环系统的模型综合的辨识方法．应用此方法对轮式移动机器人ＴＨＭＲ－Ⅱ和ＴＨＭＲ－ⅡＡ的后轮驱动系统进行了辨识。
This paper presents a kind of method that first of all, an identification model of open loop system is obtained by using an area method of step response, then, the model of closed loop system by use of analysis of root locus of identification model of open loop system is carried out the synthesis. This method is applied to drive system of back wheel of THMR Ⅱ and THMR Ⅱ A wheeled mobile robot. The step response of the resulting identification model of open loop system is consistent with the experimental curve of the practical system and one of closed loop system is consistent with one of that practical system satisfactorily.
出处
《机器人》
EI
CSCD
北大核心
1997年第2期110-115,共6页
Robot
基金
清华大学智能技术与系统实验室基金
关键词
移动机器人
驱动系统
动力学
模型
Dynamic modeling, drive system, mobile robot,model
