摘要
根据动力学方程,利用Matlab/Simulink建立了欠驱动两杆机械臂Pendubot的仿真模型和控制器。控制器包括摆起控制器、平衡控制器和切换控制器。摆起控制器采用部分反馈线性化方法,平衡控制器采用线性二次型调节器(LQR)。首先进行Pendubot系统的摆起控制,然后当接近竖直向上的位置时,将控制器转换为平衡控制器。该仿真实验有利于培养学生的实际动手能力、独立思考能力和创新能力。
According to the dynamic equation,the simulation model and controller of the under-actuated twobar manipulator Pendubot are established by using Matlab/Simulink.The controller includes the swing-up controller,balance controller and switching controller.The swing-up controller adopts the partial feedback linearization method,and the balance controller adopts a linear quadratic regulator（LQR）.First,the swingup control of the Pendubot system is carried out,and then,when it approaches the vertical upward position,the controller is converted to a balance controller.This simulation experiment is beneficial for training the students＇ practical ability,independent thinking ability and innovative ability.
作者
赵海滨
刘冲
陆志国
颜世玉
于清文
Zhao Haibin,Liu Chong,Lu Zhiguo,Yan Shiyu,Yu Qingwen(School of Mechanical Engineering and Automation,Northeastern University, Shenyang 110819, Chin)
出处
《实验技术与管理》
CAS
北大核心
2018年第6期135-138,143,共5页
Experimental Technology and Management
基金
国家自然科学基金资助项目(51405073
51505069)
中央高校基本科研业务费资助项目(N150308001)
