离散微分跟踪器在电液伺服控制中的应用  

The Application of Discrete Differential-tracker in the Electro-hydraulic System

作　　者：王志峰[1] 吴强[1] 王占林[1] 付永领[1] 

机构地区：[1]北京航空航天大学自动化科学与电气工程学院机电系,北京100083

出　　处：《机床与液压》2006年第10期89-91,共3页Machine Tool & Hydraulics

摘　　要：采用离散形式的微分跟踪器构造了非线性PID控制器,将其应用于并联机器人单通道控制,从试验结果来看,该控制器有很好的动态性能,能达到很好的控制精度,能很好地跟踪低频率的信号。A non -linear PID controller was constructed by using discrete differential -tracker. The controller was applied to the single channel control of parallel robot. The experiment result shows that the designed controller has excellent dynamic capability, and has good control precision, it can track the low frequency signal.

关 键 词：离散微分跟踪器 并联机器人 单通道 

分 类 号：TP271[自动化与计算机技术—检测技术与自动化装置]