李珂翔,张 合.并联光电跟踪平台建模与工作空间闭环控制[J].农业机械学报,2014,45(3):293-298. Li Kexiang,Zhang He.Modeling and Closed-loop Control in Workspace of Parallel Optoelectronic Tracking Platform[J].Transactions of the Chinese Society for Agricultural Machinery,2014,45(3):293-298.
|
摘要点击次数: 3045 全文下载次数: 1390
|
Abstract:In order to meet the optoelectronic tracking requirements for a small size floating stabilized platform with small volume and high load inertia, an improved parallel mechanism based on deficient DOF parallel mechanism has been designed. The Jacobian matrix is derived, and the dynamic model has been established by using Lagrange method. Considering the internal coupling, uncertainties and disturbances of the system, a workspace based composite control with disturbance observer is proposed. The disturbance observer is used to observe the disturbance of the system and reduces the upper bound of the disturbance. Based on backstepping method, the sliding mode controller is designed for tracking and residual disturbance suppression. The simulation and experiment results show that the proposed model and method have made tracking error reduced to ±0.08° which is 14.5% of PID, and is suitable for parallel mechanism. |
Transactions of the Chinese Society for Agriculture Machinery (CSAM), in charged of China Association for Science and Technology (CAST), sponsored by CSAM and Chinese Academy of Agricultural Mechanization Science(CAAMS), started publication in 1957. It is the earliest interdisciplinary journal in Chinese which combines agricultural and engineering. It always closely grasps the development direction of agriculture engineering disciplines and the published papers represent the highest academic level of agriculture engineering in China. Currently, nearly 8,000 papers have been already published. There are around 3,000 papers contributed to the journal each year, but only around 600 of them will be accepted. Transactions of CSAM focuses on a wide range of agricultural machinery, irrigation, electronics, robotics, agro-products engineering, biological energy, agricultural structures and environment and more. Subjects in Transactions of the CSAM have been embodied by many internationally well-known index systems, such as: EI Compendex, CA, CSA, etc.
|