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相关概念视频

Angle of Twist: Problem Solving01:13

Angle of Twist: Problem Solving

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An electric motor applies a torque of 700 N·m to an aluminum shaft, triggering a stable rotation. Two pulleys, B and C, are subjected to torques of 300 N·m and 400 N·m, respectively. The modulus of rigidity is provided as 25 GPa. With the knowledge of the length and diameter of each segment, the twist angle between the two pulleys can be computed. First, a section cut is made between pulleys B and C, and the cut cross-section is analyzed using a free-body diagram. Given that the...
273
Open and closed-loop control systems01:17

Open and closed-loop control systems

727
Control systems are foundational elements in automation and engineering. They are broadly categorized into open-loop and closed-loop systems. These classifications hinge on the presence or absence of feedback mechanisms, significantly influencing the system's performance, complexity, and application.
An open-loop control system operates without feedback from the output. It consists of two primary elements: the controller and the controlled process. The controller receives an input signal...
727
Controller Configurations01:22

Controller Configurations

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Controller configurations are crucial in a car's cruise control system because they manage speed over time to maintain a consistent pace regardless of road conditions, thereby meeting design goals. In traditional control systems, fixed-configuration design involves predetermined controller placement. System performance modifications are known as compensation.
Control-system compensation involves various configurations, most commonly series or cascade compensation, in which the controller...
94
Time-Domain Interpretation of PD Control01:07

Time-Domain Interpretation of PD Control

95
Proportional-Derivative (PD) control is a widely used control method in various engineering systems to enhance stability and performance. In a system with only proportional control, common issues include high maximum overshoot and oscillation, observed in both the error signal and its rate of change. This behavior can be divided into three distinct phases: initial overshoot, subsequent undershoot, and gradual stabilization.
Consider the example of control of motor torque. Initially, a positive...
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PD Controller: Design01:26

PD Controller: Design

222
In automotive engineering, car suspension systems often employ Proportional Derivative (PD) controllers to enhance performance. PD controllers are utilized to adjust the damping force in response to road conditions. A controller, acting as an amplifier with a constant gain, demonstrates proportional control, with output directly mirroring input.
Designing a continuous-data controller requires selecting and linking components like adders and integrators, which are fundamental in Proportional,...
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Multi-input and Multi-variable systems01:22

Multi-input and Multi-variable systems

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Cruise control systems in cars are designed as multi-input systems to maintain a driver's desired speed while compensating for external disturbances such as changes in terrain. The block diagram for a cruise control system typically includes two main inputs: the desired speed set by the driver and any external disturbances, such as the incline of the road. By adjusting the engine throttle, the system maintains the vehicle's speed as close to the desired value as possible.
In the absence...
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具有输入和的机器人操纵器的自适应性超扭曲滑动模式控制.

Chenghu Jing1,2, Hui Zhang3, Yafeng Liu2

  • 1Henan Key Laboratory of Superhard Abrasives and Grinding Equipment, Henan University of Technology, Zhengzhou 450001, China.

Sensors (Basel, Switzerland)
|May 11, 2024
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概括

这项研究引入了一个改进的自适应超扭转滑动模式控制 (ASTSMC) 机器人操纵器. 这种新的方法提高了稳定性,并确保了有限时间的融合,即使输入和和未知的不确定性.

关键词:
有限时间有限的时间.输入和度输入和度机器人操纵器 机器人操纵器强大的适应性适应性.滑动模式 滑动模式这是一个超级扭曲的扭曲.

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科学领域:

  • 机器人技术 机器人技术 机器人技术
  • 控制系统工程 控制系统工程
  • 应用数学 应用数学 应用数学

背景情况:

  • 机器人操纵器需要强大的控制策略来处理不确定性和干扰.
  • 输入和是影响操纵器性能的一种常见的实际限制.
  • 现有的滑动模式控制方法可能会与未知的不确定性边界和收率作斗争.

研究的目的:

  • 为机器人操纵器开发一种改进的自适应超扭转滑动模式控制 (ASTSMC).
  • 为应对输入和和未知的一次性不确定性所带来的挑战.
  • 确保有限时间的融合,提高稳定性.

主要方法:

  • 一个修改的滑动模式表面 (SMS) 旨在提高收速度并避免单一扰动.
  • 一个修改后的适应性定律被开发出来,消除了对干扰边界的预先知识的需要.
  • 建议使用和补偿的ASTSMC来减轻输入和的影响.

主要成果:

  • 拟议的ASTSMC方案显示出强大的适应性和有效的控制增益调整.
  • 该方法实现了机器人操纵器的有限时间融合.
  • 与其他控制方案相比,模拟证实了对干扰和不确定性的优越稳定性.

结论:

  • 开发的修改后的ASTSMC为控制机器人操纵器提供了强大而高效的解决方案.
  • 该方法有效地处理输入和和未知的不确定性,确保可靠的性能.
  • 有限时间收分析验证了拟议的控制策略的稳定性和有效性.