摘要
介绍了用于合作机器人关节速度约束的直流调速系统.该系统采用变PI参数调节器进行串联校正.利用MATLAB工具软件,对该系统进行了仿真研究,并将普通PI调节器和变参数PI调节器的仿真结果进行了对比分析;对数字离散化设计后的数字系统,进行了实验研究.
A new DC speed-regulating system is introduced, which is used for restricting the joint speed of a collaborative robot. The system adopts parameter auto_adjustment PI regulator to perform serial correction. The simulation research is made by using MATLAB software. The contrast analysis of the simulation results between common and parameter auto-adjustment PI regulator is made. The experiment result is given for system of digitally discretized design.
出处
《应用科技》
CAS
2005年第6期42-44,47,共4页
Applied Science and Technology
基金
国家自然科学基金资助项目(60275030)
哈尔滨市留学回国基金资助项目(2002AFLXJ004)
哈尔滨工程大学基础研究基金资助项目(HEUF04094).
