论文部分内容阅读
本文根据极点配置设计理论，提出一种适用于机器人电液伺服系统自校正自适应控制的方法，推导出三阶自校正控制加权系数的精确解析式，提出主导加权系数的概念，使自校正自适应控制中的五个加权系数化街为二个，克服了液压机器人在线自适应控制难的问题。
Based on the pole placement design theory, this paper proposes a self-tuning adaptive control method suitable for robotic electro-hydraulic servo system, derives the exact analytical formula of the third-order self-tuning control weighting coefficient, proposes the concept of dominant weighting coefficient, The five weighted coefficients for adaptive control are two streets, which overcomes the problem of difficult adaptive control of hydraulic robots online.