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无力矩驱动模式的电机驱动器使得三关节体操机器人控制难度增加,但具有实际意义.针对该类机器人系统,提出了基于“类等效”思想的简化动力学模型,该模型由刚体动力学和加速度驱动两个子模型构成.利用拉格朗日法建立刚体动力学方程;使用频率响应法得到加速度驱动模型的伯德图并确定了其阶次,根据阶跃响应曲线确定其纯滞后;使用改进的遗传算法辨识模型参数.通过对简化前后的模型进行对比实验以及简化模型的稳定控制实验,验证了简化模型的有效性和优越性.
The motor driver without torque driving mode makes it more difficult to control the three-legged gym robots.Aiming at this kind of robot system, a simplified dynamical model based on the idea of “equivalence” is proposed, which is composed of rigid body dynamics And acceleration-driven two sub-models.Lagrange method was used to establish the rigid-body dynamic equations.The frequency-response method was used to obtain the Byrd diagram of the acceleration-driven model and its order was determined.The dead-time was determined according to the step response curve. An improved genetic algorithm is used to identify the parameters of the model.The validity and superiority of the simplified model are verified by comparing the model before and after simplification with the simplified control experiment.