弹药装填机械手关节电机系统非线性控制研究  

Study on Nonlinear Control of Joint Motor of Auto Loading Manipulator for Ammunition

作　　者：李华[1] 徐达[1] 张健[1] 庞鸿瑞[2] 

机构地区：[1]装甲兵工程学院,北京100072 [2]太原理工大学人事处,太原030024

出　　处：《太原理工大学学报》2011年第3期301-304,共4页Journal of Taiyuan University of Technology

基　　金：装甲兵工程学院创新工程项目

摘　　要：针对弹药自动装填机械手关节电机传动系统的非线性自振荡和反应滞后造成的装填延时和误差,在分析了关节电机系统非线性环节耦合运动及其对关节电机影响的基础上,采用神经网络补偿控制策略,有效地减小了关节电机传动系统的反应滞后,抑制了冲击扰动,极大程度上改善了关节电机系统非线性对关节电机传动系统的影响,提高了弹药装填反应时间和装填精度。Aimed at nonlinear backlash self oscillation and reaction lag of joint motor drive system of auto loading manipulator for ammunition,the lifluence of nonlinear element coupled motions of backlash on joint motors was analyzed,and a neural network compensate control was adopted to decrease reaction lag of joint motor drive system,restrain disturbance,significantly improve the influence of nonlinear element coupled motions of backlash on joint motors,and increase loading reaction time and precision of ammunition.

关 键 词：弹药装填机械手 关节电机非线性 神经网络 

分 类 号：TP241[自动化与计算机技术—检测技术与自动化装置]