摘要
介绍煤矿救援机器人的系统构成,包括运动控制卡、伺服驱动系统、位置检测系统、电源系统以及机械本体,并简要介绍各构成部分的作用。采用积分Backstepping设计思想设计出轨迹跟踪反馈控制器,并且在MATLAB中进行仿真测试。仿真结果证明,所设计的轨迹跟踪控制器可以达到全局渐近稳定。
The system structure of the mine rescue robot was introduced, including the motion control cards, servo drive system, position detection system, power system and mechanical body. The roles of various components were explained. Using the idea of integral Backstepping, a feedback control law was designed which was simulated in MATLAB. The simulation results prove that global asymptotic stability can be achieved by the feedback control law.
出处
《机床与液压》
北大核心
2012年第3期45-46,86,共3页
Machine Tool & Hydraulics
基金
陕西省自然科学基金资助项目(2007E212)
陕西省教育厅产业化中试基金资助项目(2010JC11)
