摘要
针对并联机构存在参数变化及不可预测的未建模误差的特点,提出一种基于模型的参考自适应控制策略。将机构系统的参数变化及未建模误差看成对实际系统的扰动,建立理想的参考模型,依靠系统状态及其误差构造自适应反馈律,利用稳定性理论推导自适应控制律,使得实际机构与参数模型具有相同的动态特性。实例显示,自适应控制器对参数变化及未建模误差引起的运动误差具有很好的抑制作用,保证机构对规划的目标运动具有很高的跟踪精度。
The strategy was proposed based on model and reference to adaptive control according to the properties of parameter variations and unpredictable,un-modeled error in parallel mechanism.Parameter variations and un-modeled error of mechanism system were treated as a disturbance to the practical system,an ideal reference model was established,and adaptive feedback rule was constructed depend on system status and the error.The adaptive control rule was derived by stability theory,and the practical mechanism had the same dynamic characteristics as parameter model.Example showed that adaptive controller could effectively restrain motion error which caused by parameter variations and un-modeled error,the mechanism has high tracking precision to planed target movement.
出处
《农业机械学报》
EI
CAS
CSCD
北大核心
2012年第1期202-207,共6页
Transactions of the Chinese Society for Agricultural Machinery
基金
国家重点基础研究发展计划(973计划)资助项目(2009CB724406)
陕西省自然科学研究计划资助项目(2011JM7015)
关键词
并联机构
稳定性
自适应控制
Parallel mechanism
Stability
Adaptive control
