机械臂的自动控制系统 课件.pptVIP

The calculation of observer : 2.5 1 1 1 0 , , 2.2 3.1 0 0 : 1 5 1 Tw A o o B p e C l s i ? ? ? ? ? ? ? ? ? ? ? ? ? ? ? ? ? ? ? ? ? ? ? ? ? SOLUTION: . . . . ~ ~ ~ ~ ( ) 5.1 1 1 7.6 21.81 3.1 0 24.01 x A LC x Bu Ly x x u y ? ? ? ? ? ? ? ? ? ? ? ? ? ? ? ? ? ? ? ? ? ? ? ? ? ? ? 4. The output feedback controller ? Integrated design of the control action u usually depends on the actual response of the system, and that is to say, u can be expressed as the output of a linear function ? ? If the control u is a linear function of the state y, so called linear system output feedback accordingly 。 u Kx v ? ? ? u Kx v ? ? ? single ‐ link flexible robot arm wangyuan Arrangement ： M1: Build this system in Simulinkwith D/A and A/D converte rs M2: Design a state ‐ feedback controller (any form are OK) M3: Design a observer (full ‐ order or reduced ‐ order) M4: Design output ‐ feedback controller directly (e.g. PID) Group 4: single ‐ link flexible robot arm （ m 2 l 2 ） （ m 1 l 1 ） 1.The dynamics equation of mechanical arm: 1) Position equation of manipulator operation end ： Jacobian Matrix ： State transformation: 2) The dynamics equation of mechanical arm: : The total driving moment vector : The angle of rotation vector M(θ) : Coriolis Centrifugal torqueInertia G( θ ) : The gravity vector M( θ ) : Inertia matrix The mathematical expression: Simultaneous : (1) (2) (3) The mathematical expression and The quantitative value: (7) 3) Defined state variables: ]^T Hypothesis and the assumption that the variables: The form of state transformation matrix: The output of the system equations: 4) Mechanical arm model equation of state: State equation: 2.The mechanical arm odel linearization 1) The value o