共查询到20条相似文献,搜索用时 62 毫秒
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针对机载挂飞转台的摆扫速度控制问题,提出了一种利用模糊自适应PID技术进行前馈补偿的复合控制策略。首先根据实际应用提出摆扫转台的期望摆扫速度曲线,并对直流力矩电机驱动的摆扫转台进行了建模;然后根据扰动前馈补偿的控制原理,提出了模糊自适应PID前馈补偿方法,为摆扫转台的速度环设计了模糊PID控制器,并在此基础上设计了与之相适应的的自适应前馈补偿函数;最后进行了仿真结果验证。通过Matlab仿真结果表明,相对于模糊PID控制,所设计的模糊自适应PID前馈补偿控制器能有效的跟踪期望的转台摆扫速度,大幅地提高了在有稳定干扰和摆扫速度越变情况下的跟踪精度。 相似文献
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摘要:随着无人机民用化的持续加速, 其应用场景越来越复杂, 自主避障技术成为拓宽应用领域的技术瓶颈. 自主避障技术的突破, 无疑成为无人机更大规模应用必要条件. 自抗扰控制器技术, 是发扬PID控制技术的精髓并吸取现代控制理论思想归纳探索而来. 自抗扰控制器具有的不依赖被控对象精确模型、算法简单、参数易于调节的特点, 使其适合作为无人机自主避障的控制算法来应用. 针对无人机避障中位置给定阶跃信号幅值较大且幅值不定的情况, 传统PID控制器快速性不能很好满足要求且需要重复调节参数, 而自抗扰控制器则具有更好的鲁棒性. 为了更好的实现无人机自主避障, 设计了基于自抗扰控制器的外环位置控制器, 对基于自抗扰的无人机自主避障系统进行仿真和实验研究, 并与传统双环PID控制器进行对比分析, 结果证明外环控制器采用自抗扰控制器的无人机自主避障系统的可行性. 相似文献
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为提高汽车生产中涂胶工序的工作效率和空间利用率,改善机器人避障性能,设计了一款具有7自由度的冗余度工业涂胶机器人,并对其控制方法开展研究。针对现有PID控制方法应用于非线性时变的多自由度多刚体串联式开链系统时,控制效果有限、难以达到系统精度要求等问题,基于传统PID控制和模糊自适应控制算法,提出了一种带有重力补偿的模糊自适应PID混合控制方法。该方法在对冗余度工业机器人进行动力学分析的基础上,基于牛顿-欧拉分析法建立了冗余度机器人动力学模型,基于动力学分析设计了带有重力补偿的模糊自适应参数整定PID控制策略,建立了控制器模型,通过Matlab仿真实验表明,具有模糊自适应参数整定PID控制较有重力补偿的传统PID控制具有更好的控制效果。 相似文献
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随着系统复杂度的提高和对象不确定性因素的增加,为克服线性PID动态性能和稳态性能差的缺陷,分析了非线性PID控制器各控制参数对误差的理想变化过程,构造非线性PID控制器。由于增益参数大量增加,传统参数优化方法不再适用,在分析蚁群算法的基础上,提出了基于感知自适应蚁群算法,并加入模糊自适应信息素更新机制,用于优化非线性PID控制器的设计方法。通过仿真实验将该控制器与基于蚁群算法的非线性PID控制器和基于蚁群算法、Z-N法的PID控制器进行对比,并对控制性能和收敛性能进行了分析,结果表明该算法有效克服了传统蚁群算法收敛速度较慢、容易陷入局部最优而停滞的缺陷,该控制器具有更好的动态性能和稳态性能。 相似文献
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Ugeda MM Fernández-Torre D Brihuega I Pou P Martínez-Galera AJ Pérez R Gómez-Rodríguez JM 《Physical review letters》2011,107(11):116803
Understanding the coupling of graphene with its local environment is critical to be able to integrate it in tomorrow's electronic devices. Here we show how the presence of a metallic substrate affects the properties of an atomically tailored graphene layer. We have deliberately introduced single carbon vacancies on a graphene monolayer grown on a Pt(111) surface and investigated its impact in the electronic, structural, and magnetic properties of the graphene layer. Our low temperature scanning tunneling microscopy studies, complemented by density functional theory, show the existence of a broad electronic resonance above the Fermi energy associated with the vacancies. Vacancy sites become reactive leading to an increase of the coupling between the graphene layer and the metal substrate at these points; this gives rise to a rapid decay of the localized state and the quenching of the magnetic moment associated with carbon vacancies in freestanding graphene layers. 相似文献
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A. H. Taub 《General Relativity and Gravitation》1979,10(12):1009-1009
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In this note we use some of the results of [3] to derive a general duality theorem for the cohomologies of foliated structures on a manifold. The result is applied to the special case of a symplectic manifold M on which the foliation is given by a complex polarization F in the sense of geometric quantization. We obtain, for example, a rigorous proof of the fact that for a smooth function ƒ on M whose Hamiltonian vector field leaves F invariant, the spectrum of the corresponding prequantization operator v(ƒ) coincides with the spectrum of its transpose, under the above duality. This latter result was obtained by Simms in [12] under certain hypotheses. Proofs of the validity of those hypotheses are now available in the literature; cf. [3] and [7]. 相似文献
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Valfells A. Verboncoeur J.P. Lau Y.Y. 《IEEE transactions on plasma science. IEEE Nuclear and Plasma Sciences Society》2000,28(3):529-536
Analyzes the effects of space charge shielding on the steady state of a multipactor discharge on a dielectric. Analytic methods are used to obtain an exact function for the potential in the discharge, assuming a Maxwellian distribution of emitted electrons. An equation for the amount of power deposited on the dielectric by the multipactoring electrons, for a given saturation level, is given. A simple method for obtaining the saturation level, for a given material, is obtained 相似文献
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Kopeikin SM 《Physical review letters》2007,98(22):229001; discussion 229002