知识与财富的链接
对大型平台支撑运动建立了数学模型,提出了一种解耦控制方法,实现了平台自动调平,成功解决了调平过程中虚腿与实腿的区分难以界定,造成腿力的不确定性和多解性的难题.采用智能PID实现反馈控制算法,在缩短调平时间的同时提高了调平精度.
In this paper,mathematical model of support dynamics of the great platform is established, and a decouple control method to realize platform automatic leveling is present. Then successfully solves the problem to distinguish virtual landing legs, which can cause undetermined leg support force and multi solution. Intelligent PID is adopted to realize the feedback arithmetic, shortening the leveling time and increasing the precision.
