| 弹药装填机器人自适应PD控制算法 |
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| 引用本文： | 徐达,帅元,郝琢,侯润峰.弹药装填机器人自适应PD控制算法[J].装甲兵工程学院学报,2011,25(1):49-53. |
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| 作者姓名： | 徐达 帅元 郝琢 侯润峰 |
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| 作者单位： | 1. 装甲兵工程学院兵器工程系,北京,100072
2. 防空兵指挥学院信息控制系,河南郑州,450052 |
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| 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。
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| 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 PD Control Algorithm |
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| XU Da,SHUAI Yuan,HAO Zhuo,HOU Run-feng.Ammunition Auto-loading Manipulator Self-adaptive PD Control Algorithm[J].Journal of Armored Force Engineering Institute,2011,25(1):49-53. |
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| Authors: | XU Da SHUAI Yuan HAO Zhuo HOU Run-feng |
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| Institution: | XU Da1,SHUAI Yuan1,HAO Zhuo1,HOU Run-feng2(1.Department of Arms Engineering,Academy of Armored Force Engineering,Beijing 100072,China,2.Department of Information Control,Air Defence Forces Command Academy,Zhengzhou 450052,China) |
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| Abstract: | 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 obtai... |
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| Keywords: | ammunition auto-loading manipulator self-adaptive control tracking |
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