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串联工业机器人的自适应稳态增益调整技术
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作者 牛鑫 冯洪宁 《机械设计与制造》 北大核心 2024年第6期338-341,347,共5页
由于时滞控制具有模型无关性、简单性和鲁棒性等优点,在工业机器人控制中得到了广泛的应用。然而,过高的增益会导致系统响应不稳定或振荡。为了解决这一问题,提出了一种用于串联机械臂时滞控制的自适应增益调整算法。首先,通过机器人机... 由于时滞控制具有模型无关性、简单性和鲁棒性等优点,在工业机器人控制中得到了广泛的应用。然而,过高的增益会导致系统响应不稳定或振荡。为了解决这一问题,提出了一种用于串联机械臂时滞控制的自适应增益调整算法。首先,通过机器人机械臂时滞控制原理分析表明了恒定增益存在的缺陷。然后,采用滑动变量和边界条件为时滞控制设计了一种自适应增益调整算法,能够在无需大量的调整参数的条件下,自动将增益调整到满足时滞控制稳定性条件的稳定值。仿真和实验结果验证了所提自适应增益调整算法的有效性。研究结果表明,与传统的时滞控制(大增益)相比,所提算法将机械手跟踪的均方根误差和最大误差分别减小了31.2%和61.4%,并且即使在初始值不稳定的情况下,仍可以提供稳定的增益,控制性能显著提高。 展开更多
关键词 机器人机械臂 时滞控制 自适应 滑动变量 边界条件
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A new method to calculate lateral force acting on stabilizing piles based on multi-wedge translation mechanism 被引量:2
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作者 罗渝 许强 +3 位作者 何思明 李新坡 何尽川 吴永 《Journal of Central South University》 SCIE EI CAS CSCD 2015年第2期654-661,共8页
A new method based on the multi-wedge translation mechanism is presented to calculate the lateral force acting on the stabilizing piles. At first, there is no assumption for the shape of potential sliding surface, it ... A new method based on the multi-wedge translation mechanism is presented to calculate the lateral force acting on the stabilizing piles. At first, there is no assumption for the shape of potential sliding surface, it is just considered that the potential sliding surface is a composite of a number of straight lines. And then, the potential sliding mass is divided into a number of triangular wedges take with these straight lines as its base. The kinematic theorem of limit analysis is adopted to calculate the rate of external work and the rate of energy dissipation for each triangular wedge, respectively. Furthermore, the multivariate functions are established to calculate the lateral force acting on the stabilizing piles. The lateral force and the corresponding potential sliding surfaces can be obtained by an optimizational technique. At last, an example is taken to illustrate the method. The effect of soil strength parameters, slope angle and pile roughness on the lateral force and the corresponding potential sliding surface are analyzed.The result are compared with those obtained using other methods. 展开更多
关键词 PILE sliding surface limit analysis multi-wedge mechanism
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