摘要
针对弹药装填机器人取弹后自身质量改变较大,运转时会受到质量变化和复杂车内环境共同作用,容易产生运动位移误差现象,采用一种基于重力改进的自适应PD控制算法,实现了弹药装填机器人实际运动轨迹与预定轨迹的快速跟踪要求,并通过Matlab-Simulink进行了仿真验证,得到了较好的控制效果。
Because the ammunition auto-loading manipulator varies greatly in self mass after being loaded,and motion displacement error is easily generated due to mutual effect of mass change and complicated environment in the vehicle,a kind of self-adaptive PD control algorithm is adopted,meeting the requirement that the actual motion of ammunition auto-loading manipulator quickly tracks the scheduled trajectory.Simulation through Matlab-Simulink module is conducted for verification and a good control effect is obtained.
出处
《装甲兵工程学院学报》
2011年第1期49-53,共5页
Journal of Academy of Armored Force Engineering
基金
军队科研计划项目
关键词
弹药装填机器人
自适应控制
轨迹跟踪
ammunition auto-loading manipulator
self-adaptive control
tracking
