【摘要】 以双拇指手为控制对象,讨论了数字三环控制和滑模变结构控制方法,同时讨论了抖动的影响以及抑制抖动的方法.结果表明滑模变结构控制可以改善系统的控制性能,引入饱和函数后抑制抖动效果明显.滑模变结构控制优于三环控制.更多还原

【Abstract】 This paper deals with the position servo control and alleviation chattering for a dual-thumbed hand.The digital three-loop control and sliding mode variable structure control are discussed.The effect of chattering and the method of alleviation chattering are discussed too.As a result,the sliding variable structure control can improve the control performances of the system.Better results are obtained through adding saturating function to the controller.Sliding mode variable structure control is better than three-loop control for the dual-thumbed hand.更多还原