- Tytuł:
- H control of robot arm with hydraulic drive
- Autorzy:
-
Gosiewski, Z.
Michałowski, G. - Powiązania:
- https://bibliotekanauki.pl/articles/387204.pdf
- Data publikacji:
- 2008
- Wydawca:
- Politechnika Białostocka. Oficyna Wydawnicza Politechniki Białostockiej
- Tematy:
-
napęd hydrauliczny
sterowanie odporne
hydraulic drive
robust control - Opis:
- In the paper an H�‡ velocity control of the robot arm in combination with the hydraulic drive is presented. The open-loop system consists of a manipulator with one rotary degree of freedom, a hydraulic servomotor, and an electrohydraulic amplifier. The mathematical model of the system is derived. Due to the nonlinearity in the model, which is caused by varying operating point parameters and the direction of the servomotor motion, the model of multiplicative uncertainty was defined. The plant model transfer function parameters were assumed to be variable. To limit error signal, control signal, and output signal three weighting functions were designed. The simulation results of the designed H�‡ optimal closed-loop system were compared to the standard PID closed-loop system. The solution ensuring robust performance was achieved and proved.
- Źródło:
-
Acta Mechanica et Automatica; 2008, 2, 2; 39-44
1898-4088
2300-5319 - Pojawia się w:
- Acta Mechanica et Automatica
- Dostawca treści:
- Biblioteka Nauki
Artykuł