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基于模型降阶的平面三连杆欠驱动机械系统位置控制

DOI: 10.3724/SP.J.1004.2014.01303, PP. 1303-1310

Keywords: 平面欠驱动机械系统,模型降阶,位置控制,粒子群优化算法,Lyapunov函数

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Abstract:

?针对第一关节为被动的平面三连杆欠驱动机械系统,提出一种基于模型降阶的位置控制方法.首先,建立平面三连杆欠驱动系统数学模型,并分析其积分特性;其次,将部分可积的三连杆系统分段降阶为两个完全可积的两连杆子系统,并基于两子系统获得系统驱动杆与欠驱动杆之间的状态约束关系;然后,利用粒子群优化算法,根据系统末端点目标位置计算驱动杆目标角度;最后,分别设计两连杆子系统控制器,实现系统从任意初始位置到任意目标位置的控制目标.仿真结果验证所提控制策略的有效性.

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