利用改进的OPCL控制实现二连杆机构的同步运动

韩清凯; 赵雪彦; 闻邦椿

利用改进的OPCL控制实现二连杆机构的同步运动

东北大学机械工程与自动化学院,沈阳 110004

基金项目: 国家自然科学基金资助项目(10402008;50535010);教育部科学技术研究(重点)资助项目(108037)

详细信息

作者简介:
韩清凯(1969- ),男,山东济宁人,教授,博士(联系人.E-mail:qhan@mail.neu.edu.cn).

中图分类号: O221.2
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- 被引次数: 0
出版历程
- 收稿日期: 2008-06-25
- 修回日期: 2008-10-06
- 刊出日期: 2008-12-15

Synchronization Motions of a Two-Link Mechanism With an Improved OPCL Method

School of Mechanical Engineering and Automation, Northeastern University, Shenyang 110004, P. R. China

摘要

摘要: 研究了一种改进的开闭环控制(OPC控制)方法，将这种方法应用于二连杆机构的同步运动控制，实现了二连杆机构的小幅摆和大回环两种同步运动形式．通过仿真，对比了二连杆机构的同步的不同运动特征，并对不同控制参数对同步过程的影响进行了研究．
- 二连杆机构 /
- 控制同步运动 /
- 改进的OPCL控制
Abstract: An improved OPCL method was developed and applied to both the small swing and the giant rotation synchronization of a two-link mechanism.Transition processes of the two kinds of synchronization were also discussed.Comparisons of different motion characteristics of the two-link synchronizations and the effects of different control parameters on the synchronous processes were investigated through numerical simulations.
- two-link mechanism /
- controlled synchronization motions /
- improved OPCL method

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参考文献(13)

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