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考慮摩擦和參數(shù)不確定的平面五桿機(jī)構(gòu)控
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Friction Compensation of Planar 5-bar Parallel Mechanism with Time Variable Parameters Using Sliding Mode Control
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    摘要:

    建立了機(jī)構(gòu)運(yùn)動副摩擦的數(shù)學(xué)模型，將關(guān)節(jié)接觸面間的作用力轉(zhuǎn)換為理想約束力與摩擦力矩,。將摩擦力矩視為外加非保守力，應(yīng)用簡化模型法建立了包含關(guān)節(jié)非線性摩擦的平面并聯(lián)五桿機(jī)構(gòu)的動力學(xué)模型,。基于滑模變結(jié)構(gòu)理論設(shè)計(jì)了該模型考慮參數(shù)不確定性的魯棒軌跡跟蹤控制器,，并證明了其穩(wěn)定性,。實(shí)驗(yàn)和檢測結(jié)果表明所建動力學(xué)模型正確，所設(shè)計(jì)的控制器對機(jī)構(gòu)中的非線性摩擦力有較好的補(bǔ)償效果并具有較強(qiáng)的魯棒性,。

    Abstract:

    The mathematic model of joint friction in mechanical system was put forward, in which the action forces in joint were converted into ideal constraint force and friction moment. The friction was dealt as exterior non-inertia force, and the dynamics equation including nonlinear friction of planar 5-bar parallel mechanism using the method of reduced model was presented. A sliding mode controller was designed for compensating the influence of nonlinear friction and time variable parameters. The stability analysis using Lyapunov’s direct method shows that the controller is asymptotically stable. The results of experiment demonstrate the effectiveness of the proposed model and controller.

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李仁軍,劉宏昭,李鵬飛.考慮摩擦和參數(shù)不確定的平面五桿機(jī)構(gòu)控[J].農(nóng)業(yè)機(jī)械學(xué)報(bào),2009,40(4):198-201. Friction Compensation of Planar 5-bar Parallel Mechanism with Time Variable Parameters Using Sliding Mode Control[J]. Transactions of the Chinese Society for Agricultural Machinery,2009,40(4):198-201.

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