Integrated Design of Machine Body and Control Algorithm for Improving the Robustness of a Closed-Chain Five-Bar Machine
文献类型：期刊论文
| 作者 | Cheng, Long2 ; Lin, Yingzi3; Hou, Zeng-Guang2; Tan, Min2; Huang, Jian1; Zhang, W. J.1
|
| 刊名 | IEEE-ASME TRANSACTIONS ON MECHATRONICS
 |
| 出版日期 | 2012-06-01 |
| 卷号 | 17期号:3页码:587-591 |
| 关键词 | Control algorithm design machine body robustness task tracking |
| 英文摘要 | An integrated design approach, namely, design for control (DFC), is further studied in this paper. Previous work on the DFC approach usually takes the proportional-derivative (PD) control algorithm. It is revealed in a closed-chain five-bar machine case that the PD-based DFC approach can only obtain a desired performance in set-point control task rather than tracking control task. In order to improve the robustness of this mechatronic system in terms of change of tasks, this paper suggests to use a "PD plus robust term" control algorithm in the DFC approach. Theoretical analysis shows that a satisfactory performance can be achieved by the proposed DFC. And it is also shown that the gain in the robust term plays an important role in bridging design of control algorithm and design of machine body. The general design principle of machine body is to design parameters of machine body to minimize the lower bound of this robust gain. Finally, the effectiveness of the proposed approach is validated by simulations. |
| WOS标题词 | Science & Technology ; Technology |
| 类目[WOS] | Automation & Control Systems ; Engineering, Manufacturing ; Engineering, Electrical & Electronic ; Engineering, Mechanical |
| 研究领域[WOS] | Automation & Control Systems ; Engineering |
| 关键词[WOS] | TRAJECTORY CONTROL ; MANIPULATORS ; MECHANISMS ; SYSTEMS |
| 收录类别 | SCI |
| 语种 | 英语 |
| WOS记录号 | WOS:000303502000022 |
| 源URL | [http://ir.ia.ac.cn/handle/173211/3487]  |
| 专题 | 自动化研究所_复杂系统管理与控制国家重点实验室_先进机器人控制团队 |
| 作者单位 | 1.Univ Saskatchewan, Dept Mech Engn, Saskatoon, SK S7N 5A9, Canada 2.Chinese Acad Sci, Inst Automat, State Key Lab Management & Control Complex Syst, Beijing 100190, Peoples R China 3.Northeastern Univ, Coll Engn, Dept Mech & Ind Engn, Boston, MA 02115 USA |
| 推荐引用方式 GB/T 7714 | Cheng, Long,Lin, Yingzi,Hou, Zeng-Guang,et al. Integrated Design of Machine Body and Control Algorithm for Improving the Robustness of a Closed-Chain Five-Bar Machine[J]. IEEE-ASME TRANSACTIONS ON MECHATRONICS,2012,17(3):587-591. |
| APA | Cheng, Long,Lin, Yingzi,Hou, Zeng-Guang,Tan, Min,Huang, Jian,&Zhang, W. J..(2012).Integrated Design of Machine Body and Control Algorithm for Improving the Robustness of a Closed-Chain Five-Bar Machine.IEEE-ASME TRANSACTIONS ON MECHATRONICS,17(3),587-591. |
| MLA | Cheng, Long,et al."Integrated Design of Machine Body and Control Algorithm for Improving the Robustness of a Closed-Chain Five-Bar Machine".IEEE-ASME TRANSACTIONS ON MECHATRONICS 17.3(2012):587-591. |
入库方式： OAI收割
来源：自动化研究所
浏览0
下载0
收藏0
其他版本
除非特别说明，本系统中所有内容都受版权保护，并保留所有权利。