论文部分内容阅读
叙述了一种新型的、具有很强鲁棒性的伪微分反馈（ＰＤＦ－Ｐｓｅｕｄｏ－ＤｅｒｉｖａｔｉｖｅＦｅｅｄ－ｂａｃｋ）控制器。作者将其用来控制ＦＭＳ有轨运输车模型，以提高运输车定位精度及其可靠性。介绍了研究试验中的设计、计算、调试以及实验结果。其中详细地阐述了模型运输车的机械结构与设计，驱动系统固有频率计算与控制，模型车数学模型的建立与参数识别，ＰＤＦ控制器设计与参数优化以及实验装置总体调试与定位精度测试。研究结果表明，实验装置的设计、分析计算以及试验是成功的，达到预期的目标，为工业试验提供了依据；采用ＰＤＦ控制器控制运输车具有调试方便，工作可靠以及能较大地提高运输车的定位精度等优点。
Describes a new type of Pseudo-DerivativeFeed-back controller with strong robustness. The author uses it to control the FMS railcar model to improve the vehicle’s positioning accuracy and reliability. The design, calculation, debugging and experimental results of the research experiment are introduced. The structure and design of the model transport vehicle, the calculation and control of the natural frequency of the drive system, the establishment and parameter identification of the model vehicle mathematical model, the design and parameter optimization of the PDF controller and the overall debugging and positioning accuracy test of the experimental device are elaborated in detail. The results show that the design, analysis and experiment of the experimental device are successful and achieve the expected goal, which provides the basis for industrial experiment. The control of the transport vehicle with the PDF controller is convenient for debugging, reliable and can greatly improve the transport of the transport vehicle Positioning accuracy and so on.