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通过对刚性平台模型的简化,讨论了支腿动作、平台水平角变化与虚腿的关系.在控制系统中,分成虚腿判断和伸长量预测两部分,降低了控制系统的复杂度.根据对刚性系统的分析和专家经验分别建立了WJFLC和EQFLC的控制规则表,并分别给出了WJFLC和EQFLC的输入量的量化因子.控制结构在MATLAB环境下进行了仿真试验.仿真结果表明:在第11次调整时虚腿着地后经二次调整,虚腿到地距离为0.02mm;在第11次调整时水平角度发生变化,经两次调整后角度回复到θ_x=0,θ_y=5×10~(-4),满足了控制要求.从而说明了该控制结构在除两个水平传感器无其它传感器的情况下可以很快的实现虚腿的找实,并且不会引起平台的剧烈震动.
Through the simplification of the rigid platform model, the relationship between the leg movements and horizontal angle of the platform and the imaginary legs is discussed.In the control system, it is divided into two parts: the imaginary leg judgment and the elongation prediction, which reduces the complexity of the control system.According to Rigid system analysis and expert experience were established WJFLC and EQFLC control rules table, respectively, and the WJFLC and EQFLC were given the input quantization factor control structure in the MATLAB environment simulation test results show that: in the first After the adjustment of the second leg, the leg is adjusted by the second adjustment, the distance between the virtual leg and the ground is 0.02 mm; at the 11th adjustment, the horizontal angle changes, and the angle is returned to θ_x = 0 and θ_y = 5 × 10 ~ (-4), which satisfies the control requirements.This shows that the control structure can quickly find out the virtual leg without any other sensor of two horizontal sensors, and it will not cause violent vibration of the platform.