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在多变量控制系统解耦理论的基础上,应用现代控制理论的最优化方法,针对两自由度关节型机器人电液伺服系统进行了理论分析与仿真实验研究,结果表明,提出的控制方法,对系统的解耦处理和改善系统的动态性能都是有效的。
Based on the theory of decoupling of multivariable control system, the optimization method of modern control theory is applied to theoretical analysis and simulation experiment of electro-hydraulic servo system with two degrees of freedom articulated robot. The results show that the proposed control method The system decoupling and improving the dynamic performance of the system are all effective.