[1]朱兴龙,周骥平,罗翔,等.一种新型三自由度液压伺服关节的动力学模型[J].东南大学学报(自然科学版),2004,34(1):32-37.[doi:10.3969/j.issn.1001-0505.2004.01.008]
 Zhu Xinglong,Zhou Jiping,Luo Xiang,et al.Dynamic modeling of a novel hydraulic servo with three degrees of freedom joint[J].Journal of Southeast University (Natural Science Edition),2004,34(1):32-37.[doi:10.3969/j.issn.1001-0505.2004.01.008]
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一种新型三自由度液压伺服关节的动力学模型()
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《东南大学学报(自然科学版)》[ISSN:1001-0505/CN:32-1178/N]

卷:
34
期数:
2004年第1期
页码:
32-37
栏目:
机械工程
出版日期:
2004-01-20

文章信息/Info

Title:
Dynamic modeling of a novel hydraulic servo with three degrees of freedom joint
作者:
朱兴龙12 周骥平2 罗翔1 颜景平1
1 东南大学机械工程系, 南京 210096; 2 扬州大学机械工程学院, 扬州 225009
Author(s):
Zhu Xinglong12 Zhou Jiping2 Luo Xiang1 Yan Jingping1
1 Department of Mechanical Engineering, Southeast University, Nanjing 210096, China
2 College of Mechanical Engineering, Yangzhou University,Yangzhou 225009, China
关键词:
液压伺服关节 三自由度 动力学模型 自适应控制 机器人
Keywords:
hydraulic servo joint three degrees of freedom dynamic model adaptive control robot
分类号:
TH112
DOI:
10.3969/j.issn.1001-0505.2004.01.008
摘要:
建立了一种新型三自由度液压伺服关节的动力学空间模型,提出了一种自适应控制补偿方法,该方法能够消除死区造成的位置跟踪误差.利用Matlab对该动力学模型进行了仿真试验研究,仿真试验结果表明,死区对位置跟踪误差有直接影响,该关节的动力学系统是稳定的,采用自适应控制补偿方法,可以使位置跟踪精度误差小于0.1%,且系统输出无超调.同时,系统对负载变化不敏感,具有较强的鲁棒性.
Abstract:
An adaptive control compensation method that enables position tracking error due to the dead zone to be eliminated is presented. By Matlab, the simulation testing results show the dynamic system of the novel hydraulic servo joint is steady. The position tracking error is influenced directly by the dead zone. Adopting the adaptive control compensation method enables the position tracking error of less than of 0.1% and implements the system output without overshooting. Simultaneously, the robustness of the system is very strong because the system output is not sensitive to loading-change.

参考文献/References:

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[6] 朱兴龙,周骥平,颜景平.一种新型的三自由度垂直相交运动解耦液压伺服关节的设计 [J].中国机械工程,2002,13(21):1824-1826.
  Zhu Xinglong,Zhou Jiping,Yan Jingping.The design for a novel hydraulic servo joint with three degrees of freedom vertical cross and motion decoupled [J].China Mechanical Engineering,2002,13(21):1824-1826.(in Chinese)
[7] 陈桂明,张明照,戚红雨,等.应用Matlab建模与仿真[M].北京:科学出版社,2001.104-137.
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备注/Memo

备注/Memo:
基金项目: 国家计委211资助项目(2102002001)、江苏省自然科学基金资助项目(BK2002405).
作者简介: 朱兴龙(1964—),男,博士生, xinglongzhu@263.net; 颜景平(联系人),男,教授,博士生导师.
更新日期/Last Update: 2004-01-20