【摘要】 研究了用于机械手直接驱动的开关磁阻电动机(简称SSR电动机未建用实验的方法确定。在该模型基础上,设计了一个鲁棒控制器,它能够产生一个辅助输入,抵消模型不确定性对控制系统品质的影响。理论分析表明在鲁棒控制器的控制之下,系性。更多还原

【Abstract】 This paper considers the robust control of a switched reluctance (SR) motor for driving a[( )-416.2(manipulator)-0.3( )]directly. A mathematical model of the SR motor with un-modeled dynamics is proposed. The scope of the un-modeled dynamics can be evaluated by some experiments. Based on this model, a robust controller is designed. It produces a robust auxiliary input to overcome the influence of the model uncertainies[( )(on)] the system performance. It is shown by analysis results that the trajectory error is convergent. And also it is proved by simulations that the theory analysis is correct and feasible.更多还原