| 采桑机械手的动态自适应逆控制研究 |
| |
| 引用本文： | 张治臣,周本义.采桑机械手的动态自适应逆控制研究[J].农机化研究,2009,31(9). |
| |
| 作者姓名： | 张治臣 周本义 |
| |
| 作者单位： | 1. 安康学院,农学分院,陕西,安康,725000
2. 安康市种子管理站,陕西,安康,725000 |
| |
| 摘 要： | 为了稳定地实现对采桑机械手系统的控制,应用了人工神经模糊动态控制原理及其控制器的设计方法,建立了采桑机械手的动力学方程;介绍了神经模糊系统的学习算法,并进行了系统的稳定性分析,解决了采桑机械手的慢动力学及采桑机械手慢子系统的逆自适应控制问题.
|
| 关 键 词： | 桑叶 采摘 机械手 自适应 逆控制 |
Backwards Self-adaptting Control of Mulberry Treeleaf Plucking Manipulator Based on Nerve Mistiness Principle |
| |
| Zhang Zhichen,Zhou Benyi.Backwards Self-adaptting Control of Mulberry Treeleaf Plucking Manipulator Based on Nerve Mistiness Principle[J].Journal of Agricultural Mechanization Research,2009,31(9). |
| |
| Authors: | Zhang Zhichen Zhou Benyi |
| |
| Institution: | 1.Cavite Campus of Agronomy;Ankang Institute;Ankang 725000;China;2.Ankang City Seed Management Station;China |
| |
| Abstract: | In order to realize controlling for mulberry treeflexible plucking manipulator in link of android in predigestion and nicety,the principle and design designs of nerve mistiness dynamic athwart accommodation controlling were used,and the dynamics equation of yielding link android and the learning arithmetic of the system are established,and stability of system was analyzed,and the slow dynamics and slow self-adaptting controlling athwart of slow subsystem problem are solved. |
| |
| Keywords: | mulberry treeleaf plucking manipulator self-adaptting opposite control |
| 本文献已被 CNKI 万方数据 等数据库收录！ |
|
