摘要
针对洁净机器人手臂的转动惯量对系统动态性能的影响,在利用动能公式分析得到其转动惯量与位置关系的基础上,提出了一种位置PI闭环加前馈参数整定的控制方法。该控制方法是由位置值实时得到转动惯量,再由转动惯量来实时整定PI参数。仿真结果表明了该控制方法能有效抑制转动惯量的变化对系统动态性能的影响,且简单可行。
Aiming at the influence of the inertia of a clean-room manipulater on the system performance, based on creating the relation of inertia and position using the kinetic energy formula, the paper presents a kind of control strategy with position PI closed loop and feed-forward paraneter tuning.The control strategy is that gaining inertia real-time from position,and tuning paraneter PI using the inertia, The simulation results show that it Can not only restrain the influence of the variant inertia on the system performance efectively, but also be implemented more easily.
出处
《组合机床与自动化加工技术》
2007年第3期34-36,40,共4页
Modular Machine Tool & Automatic Manufacturing Technique
基金
超大规模集成电路制造装备重大专项(2005AA4Z5022)
