一个基于斐波纳契序列的新运动概况
Wu-Sung Yao1, Yu-Chuan Tseng1, Jun-Hao Hu1
1Department of Mechatronics Engineering, National Kaohsiung University of Science and Technology, Kaohsiung City, Taiwan.
Science progress
|March 7, 2026
概括
这项研究引入了一种基于斐波那契序列的新型运动概况,可以提高控制稳定性和定位精度. 新设计消除了加速中的不连续性,比机器人系统的传统S曲线提高了性能.
科学领域:
- 机器人和控制系统 机器人和控制系统
- 应用数学 应用数学 应用数学
- 机械工程 机械工程
背景情况:
- 传统的S曲线和正弦曲线在加速过渡过程中经常表现出不连续性.
- 这些不连续性可能会对运动控制系统的控制稳定性,定位精度和当前性能产生负面影响.
- 现有的运动配置文件可能无法完全利用数学序列来优化平滑过渡.
研究的目的:
- 基于斐波纳契序列的新型运动形状设计.
- 为了消除加速段中的不连续性,同时保持S曲线的断片结构.
- 为了提高控制稳定性,定位精度和运动控制应用中的当前性能.
主要方法:
- 通过结合基于斐波纳契序列的平滑过渡段,开发了修改后的运动概况.
- 推导出分析模型用于加速,冲动,速度和拟议的配置文件的位移.
- 进行模拟,将修改后的形状与传统的S曲线进行比较,使用具有不同阻尼比率的电机模型.
- 在无刷直流电机系统上进行实验验证.
主要成果:
- 基于斐波纳契的运动概况有效地消除了加速段之间的不连续性.
- 与传统的S曲线相比,模拟和实验表明定位准确度有所提高.
- 拟议的配置文件显示在运动控制任务中增强了当前稳定性和整体性能.
- 建立了分析模型和配置文件变体的选择标准.
结论:
- 基于斐波纳契序列的运动概况比传统的S曲线有了显著的改进.
- 这种新的方法提高了运动控制系统的精度和稳定性,特别是在需要高精度的应用中.
- 该方法通过模拟和实验结果在无刷直流电机上进行验证.
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