[1]朱国华,游有鹏.伺服作动器加载控制系统设计与实验[J].机械与电子,2017,(12):31-34.
　ZHU Guohua,YOU Youpeng.Design and Experiment of Servo Actuator Loading Control System[J].Machinery & Electronics,2017,(12):31-34.
点击复制

伺服作动器加载控制系统设计与实验
分享到：

《机械与电子》[ISSN:1001-2257/CN:52-1052/TH]

卷:
期数:
2017年12期
页码:
31-34
栏目:
机电一体化技术
出版日期:
2017-12-15

文章信息/Info

Title:
Design and Experiment of Servo Actuator Loading Control System
文章编号:
1001-2257(2017)12-0031-04
作者:
朱国华; 游有鹏
(南京航空航天大学机电学院,江苏 南京 210016)
Author(s):
ZHU Guohua; YOU Youpeng
(College of Mechanical and Electrical Engineering, Nanjing University of Aeronautics and Astronautics, Nanjing 210016, China)
关键词:
加载系统;  直线电机;  结构不变性原理;  多余力
Keywords:
loading system;  linear motor;  structural invariance principle;  redundant force
分类号:
TP273
文献标志码:
A
摘要:
针对伺服作动器的力加载测试需求,提出基于直线电机的电动加载控制方案。首先建立了加载系统与伺服作动器系统的数学模型,然后,为改善系统特性,提高加载控制精度,采用多闭环加载控制方案,并基于结构不变性原理引入位置前馈补偿抑制多余力; 最后通过实验测试验证了加载控制方案的可行性与有效性。
Abstract:
To meet the requirement of the force loading experiment of servo actuator, an electrical loading control system based on linear motor is proposed in this paper. Firstly, a mathematic model for the loading control system and the servo actuator system were established. Then, a multi-closed-loop loading control scheme was adopted to improve the system features and the loading control accuracy. In addition, the position feedforward compensation method was used to restrain the redundant force based on the principle of structure invariance. Finally, the effectiveness and feasibility of the scheme was verified by several experimental tests.

参考文献/References:

[1] LI M, IMOU K, TANI S, YOKOYAMA S. Localization of agricultural vehicle using landmarks based on Omni-directional vision[C]∥Proceeding of 2009 international conference on computer engineering and applications(ICCEA), 2011,2:129-133.
[2] CHIA H H, WAN M L, K L W.Mobile robot localization and path planning using an omnidirectional camera and Infrared sensors[C]∥Proceedings of the 2009 IEEE International Conference on Systems,2009:2016-2020.
[3] 刘光宇,刘国栋,韩云生.一种基于全景视觉系统的Robocop机器人定位方法[J].江南大学学报(自然科学版),2009,8(3):279-282.
[4] 杨 鹏,高晶,刘作军,等. 基于全景与前向视觉的足球机器人定位方法研究[J]. 控制与决策,2008,23(1):75-483.
[5] 荣玉斌,胡英,马孜. 基于全景视觉的海上救助机器人[J]. 清华大学学报( 自然科学版),2007,47(S2):1928-1931.
[6] 马力,张茂军,徐玮,等.采用视频拼图方法构建高分辨率全景视频监控系统[J]. 中国图象图形学报,2008,13(12): 2291-2296.
[7] 季顺平,史云. 车载全景相机的影像匹配和光束法平差[J]. 测绘学报,2013,42(1):94-107.
[8] 王传宇,郭新宇,吴升,等. 采用全景技术的机器视觉测量玉米果穗考种指标[J]. 农业工程学报,2013,29(24):155-162.
[9] 李盛辉,周俊, 姬长英,等. 基于全景视觉的智能农业车辆运动障碍目标检测[J]. 农业机械学报,2013,44(12):239-244.
[10] 马子领,王建中. 作战机器人折反射全景视觉侦察技术[J]. 兵工学报,2011,32(4):503-507.

备注/Memo

备注/Memo:
收稿日期:2017-07-28
作者简介:朱国华(1992-),男,江苏苏州人,硕士研究生,研究方向为机电控制及自动化。
更新日期/Last Update: 2017-12-25