外文翻譯--倒立擺原稿-文庫(kù)吧
2025-04-17 07:58 本頁(yè)面
【正文】 these tasks are activated (. the activation order) is called scheduling of the tasks. It is obvious that a correct scheduling of each task is crucial for a good performance of the controller, and hence for an effective pendulum stabilization. Thus the inverted pendulum is very useful in determining whether a particular scheduling choice is better than another one, in which cases, to which extent, and so on. 實(shí)時(shí)倒立擺被作為一個(gè)基準(zhǔn)，去測(cè)試軟件在狀態(tài)空間控制器運(yùn)算法則下 的有效性和性能，也就是實(shí)用的操作系統(tǒng)。事實(shí)上運(yùn)算法則是通過(guò)數(shù)值點(diǎn)實(shí)現(xiàn)的該數(shù)值點(diǎn)看作一組互助的協(xié)同操作的任務(wù)，它是周期性的通過(guò)核心的活動(dòng)，它執(zhí)行不同的計(jì)算。這些任務(wù)如何活動(dòng)的方法（舉例來(lái)說(shuō)激活命令）被稱作任務(wù)的時(shí)序安排。很明顯每個(gè)任務(wù)的時(shí)序安排對(duì)控制器的一個(gè)好的性能是至關(guān)緊要的，因此對(duì)一個(gè)擺的穩(wěn)定性是有效的。如此倒立擺是非常有用的在決定是否一個(gè)特殊的時(shí)序安排的選擇比另一個(gè)好，在哪個(gè)情形下，在什么程度內(nèi)等等。 Modeling an inverted the inverted pendulum system is modeled as a linear system, and hence the modeling is valid only for small oscillations of the pendulum. 為倒立擺建模 。 通常倒立擺系統(tǒng)建模成一個(gè)線形系統(tǒng)，因此模型只對(duì)小幅度擺動(dòng)的擺才有效。 Prescribed trajectory tracking with certain accuracy is a main task of robotic control. The control is often based on a mathematical model of the system. This model is never an exact representation of reality, since modeling errors are inevitable. Moreover, one can use a simplified model on purpose. In this paper, the structured and unstructured uncertainties are of primary interest, ., the modeling error due to the parameters variation and unmodeled modes, especially the friction and sensor dynamics, neglected time delays, etc. 法定軌道通過(guò)確定的精確性是機(jī)器控制的一個(gè)主要任務(wù)?？刂仆ǔＪ腔谝粋€(gè)系統(tǒng)的數(shù)學(xué)模型。模型不是一 個(gè)準(zhǔn)確的實(shí)體表現(xiàn)，模型的誤差是不可避免的。此外，我們可以特意使用一個(gè)簡(jiǎn)化的模型。在這篇論文中， 構(gòu)造好的和未構(gòu)造好的不確定因素是主要的興趣所在，也就是說(shuō)模型的誤差導(dǎo)致參數(shù)變化和未模型化的模式 ，尤其是摩擦力和敏感元件的力度，被忽視的時(shí)間延遲等等。 The erroneous model and the demand for high performance require the controller to be robust. The sliding mode controllers(SMC) based on variable structure control can be used if the inaccuracies in the model structure are bounded with known bounds. However, an SMC has some disadvantages, related to chattering of the control input signal. Often this phenomenon is undesirable, since it causes excessive control action leading to increase wear of the actuators and to excitation of unmodeled dynamics. 不正確的模型和高性能的需求要求控制器非常堅(jiān)固?；？刂破?(SMC)是基于變結(jié)構(gòu)控制使用的如果模型結(jié)構(gòu)中的錯(cuò)誤在已知的范圍內(nèi)躍進(jìn)。然而，一個(gè)SMC 有一些缺點(diǎn)，涉及控制輸入信號(hào)的振動(dòng)。通常這個(gè)現(xiàn)象是令人不快的，它會(huì)引起額外的控制作用從而導(dǎo)致激勵(lì)者穿戴的增加和未建模動(dòng)力學(xué)的刺激。 The attempts to attenuate this undesirable effect result in the deterioration of the robustness characteristics. This is a wellknown problem and widely treated in the literature. In order to obtain smoothing in the bangbang typed discontinuities of the sliding mode controller different schemes have been suggested. 削弱這個(gè)令人不快的效果的嘗試導(dǎo)致堅(jiān)固的特性的變化。這是一個(gè)眾所周知的難題并且廣泛的在文獻(xiàn)中經(jīng)過(guò)處理。為 了在繼電器控制中獲得濾波中斷滑?？刂破鞯姆桨敢呀?jīng)被提出了。 Another important issue limiting the practical applicability of SMC is the over conservative control law due to the upper bounds of the uncertainties. In practice most often the worst case implemented in control law does not take place and the resulting large control inputs bee unnecessary and uneconomical. 另外一個(gè)重要的論點(diǎn)限定了 SMC 的實(shí)際應(yīng)用性就是創(chuàng)新的控制定律導(dǎo)致上面的不確定因素的范圍。在實(shí)踐中通常大部分最差的案例在控制定律下執(zhí)行確沒(méi)有發(fā)生并且作為結(jié)果的大的控制輸入變得不必要和不經(jīng)濟(jì)的。 In this paper we suggest an approach to the design of decentralized motion controllers for electromechanical systems besides the sliding mode motion controller structure and disturbance torque estimation. The accuracy of the estimation is the critical parameter for robustness in this scheme, as opposed to the upper bounds of the perturbations themselves. Consequently, the driving t
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