📦 基于单片机的健步机力度自适应跟随控制方法研究 - 免费下载

健步机力度跟随过程受随机扰动作用的影响易导致控制失稳,为提高健步机力度自适应跟随控制能力,提出基于单片机主动调节的健步机力度自适应跟随控制方法。构建了健步机力度自适应跟随控制对象模型,分析在突变工况下健步机力度的输出响应特征量,采用拉格朗日法建立健步机机构动力学模型;提出了基于被控对象模型的健步机力度阻尼控制方法,根据健步机的时变啮合刚度优化健步机力度自适应跟随控制过程;基于51单片机完成了健步机力度自适应跟随控制系统的硬件设计。结合MATLAB Simulink仿真工具仿真分析健步机力度控制系统,结果表明,采用该模型进行健步机力度自适应跟随控制的稳定性较好,健步机力度自适应跟随控制的误差较小,提高了健步机力度的控制收敛性。

The step-following process of the step-by-step machine is subject to the influence of random disturbances,which leads to control instability.Aiming at improving the adaptive follow-up control ability of the stepper,it proposes a force adaptive following control method based on the active adjustment of the single-chip microcomputer.It builds the adaptive following control object model of the walking machine,analyzes the output response feature of the walking machine under the sudden working condition.Based on Lagrange method it establishes the dynamic model of the walking machine mechanism,analyzes the walking machine based on the controlled object model.It uses the force damping control method to optimize the dynamic adaptive follow-up control process of the walking machine according to the time-varying meshing stiffness of the walking machine,designs the hardware the dynamic adaptive follow-up control system of the walking machine in the 51 single-chip microcomputer,simulates the dynamic control system of the walking machine in Matlab Simulink.The experimental results show that the stability of the dynamic adaptive follow-up control of the walking machine is better.The error of the adaptive follow-up control of the walking machine is small,and the walking machine is improved,the control of convergence of force is improved.

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