摘要
叙述了一种新型的、具有很强鲁棒性的伪微分反馈（ＰＤＦ－Ｐｓｅｕｄｏ－ＤｅｒｉｖａｔｉｖｅＦｅｅｄ－ｂａｃｋ）控制器。作者将其用来控制ＦＭＳ有轨运输车模型，以提高运输车定位精度及其可靠性。介绍了研究试验中的设计、计算、调试以及实验结果。其中详细地阐述了模型运输车的机械结构与设计，驱动系统固有频率计算与控制，模型车数学模型的建立与参数识别，ＰＤＦ控制器设计与参数优化以及实验装置总体调试与定位精度测试。研究结果表明，实验装置的设计、分析计算以及试验是成功的，达到预期的目标，为工业试验提供了依据；采用ＰＤＦ控制器控制运输车具有调试方便，工作可靠以及能较大地提高运输车的定位精度等优点。
A new type of the controller with powerful robustness is presented to improving the Positioning Precision and reliabilityfor automatically guided rail vehicle (AGRV) by sing the PDF (Psendo-Derivative-feed-back) controller. The structure of the experiment device, the mathematical model of AGRV and its Paramelers' identification, the method of measuring the positioning precision and testing results are described. The results indicate: (1) the design, analying, calculating and testing methods are successful, the results have reached the expected goal and the real AGRV can be designed based onthese results. (2) using PDF controller to control the AGRV has many advantages, testing is convenient, working is reliable and the positioning precision is improved.
出处
《机械工程学报》
CSCD
北大核心
1994年第6期58-62,共5页
Journal of Mechanical Engineering
