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本文设计了机器人电液位置伺服系统的变结构模型跟踪控制器,该控制器构成的控制系统对系统参数因时变惯量等因素的影响,具有良好的鲁棒性和动态性能。文中同时给出仿真和实时控制实验结果。
In this paper, a variable structure model tracking controller is designed for the electro-hydraulic position servo system of the robot. The control system composed of the controller has good robustness and dynamic performance to the system parameters due to the factors such as time-varying inertia. At the same time, the simulation and real-time control experiment results are given.