CAJ | 학술논문

以一种平面三自由度可控挖掘机构为例，运用拉格朗日方法建立了机构的刚体动力学模型，求解得到了各主动杆的系统广义力；进而针对其半闭环控制系统的控制策略进行研究，基于机构驱动元件-交流控制电机及其驱动器的数学模型，运用模糊算法设计了一种模糊-PID双模控制器并对其进行仿真分析。结果表明：基于模糊算法的控制器在超调量、调节时间、上升时间和抗干扰能力等方面均具有较好性能，满足系统的控制要求。
이일충평면삼자유도가공알굴궤구위례，운용랍격랑일방법건립료궤구적강체동역학모형，구해득도료각주동간적계통엄의력；진이침대기반폐배공제계통적공제책략진행연구，기우궤구구동원건-교류공제전궤급기구동기적수학모형，운용모호산법설계료일충모호-PID쌍모공제기병대기진행방진분석。결과표명：기우모호산법적공제기재초조량、조절시간、상승시간화항간우능력등방면균구유교호성능，만족계통적공제요구。
By using Lagrangian methods,the rigid body dynamics model was established for a planar 3-DOF con-trollable excavating mechanism.Based on the system generalized forces of the three driven bars,the control strat-egy of the semi-closed loop control system was studied.A Fuzzy-PID dual-mode controller was introduced and an-alyzed by using fuzzy algorithm based on the mathematical model of mechanism driven components-AC servo mo-tors.The simulation results indicate that the proposed controller has better performance in overshoot,adjusting time,rise time and anti-interference ability,which can satisfy the control requirements of the system.