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【正文】 of sliding mode controller implementations, are used to illustrate the successful practical application of the theory. 倒立擺 關(guān)鍵詞:倒立擺,模型, PID 控制, LQR 控制 倒立擺是什么 ? 還記得當(dāng)你是個(gè)孩子時(shí)你曾用你的食指或者掌心設(shè)法去平衡一把掃帚柄或者棒球棍嗎?你必須不斷地調(diào)整你 的手的位置以保持對(duì)象的垂直。 Unstable System: Inverted Pendulum” and “Flexible Broom Balancing” , in which this plex problem was analyzed and a simple yet effective solution was presented. 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, 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. 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. 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. 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 terms of the error dynamics are reduced from the uncertainties (as in the conventional SMC) to the accuracy in their estimates. The result is a much better tracking accuracy without being over conservative in control. Experimental robustness properties of fuzzy controllers remain theoretically difficult to prove and their synthesis is still an open problem. The nonlinear structure of the final controller is derived from all controllers at the different stages of fuzzy control, particularly from mon defuzzification methods (such as Centre of Area). In general, fuzzy controllers have a regionwise structure given the partition of its input space by the fuzzification stage. Local controls designed in these regions are then bined into sets to make up the final global control. A partition of the state space can be found for which the controller has regionwise constant parameters. Moreover, each fuzzy controller tuning parameter (. the shapes and the values of input or output variables membership functions) influences the values of
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