摘要
介绍某新型地面武装侦察机器人遥控武器站系统的组成,设计其PID三环位置伺服控制系统,并运用动力学软件ADAMS与控制仿真软件MATLAB/Simu Link,建立机器人遥控武器站的机电联合仿真系统,通过两款软件的交互运算,更为准确、全面地实现了系统仿真过程。仿真结果表明:控制系统的动态特性符合设计要求,可为同类无人化武器平台的设计提供一定的理论与工程借鉴。
This paper describes the composition of a new type of ground remote weapon-armed and reconnaissance robot station system, and design its PID tricyclic position servo control system,meanwhile establish the electromechanical joint simulation system of the electromechanical remote weapon stations by using the dynamics simulation software ADAMS and control simulation software MATLAB/Simu Link, through which can get a more objective and accurate implementation system simulation through. The simulation results show that the dynamic characteristics of the control system meets the design requirements and this method can provide a certain engineering and theoretical reference for the design of similar unmanned weapons platforms.
出处
《火力与指挥控制》
CSCD
北大核心
2015年第12期128-132,共5页
Fire Control & Command Control
关键词
武装机器人
PID控制算法
机电联合仿真
armed robot
PID control algorithm
electromechanical joint simulation
