CN111262177A - 一种树障清理机器人刀具系统滑模控制方法 - Google Patents
一种树障清理机器人刀具系统滑模控制方法 Download PDFInfo
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- CN111262177A CN111262177A CN202010032157.8A CN202010032157A CN111262177A CN 111262177 A CN111262177 A CN 111262177A CN 202010032157 A CN202010032157 A CN 202010032157A CN 111262177 A CN111262177 A CN 111262177A
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- 230000015572 biosynthetic process Effects 0.000 claims description 2
- 238000003786 synthesis reaction Methods 0.000 claims description 2
- 238000005520 cutting process Methods 0.000 abstract description 14
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Classifications
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02G—INSTALLATION OF ELECTRIC CABLES OR LINES, OR OF COMBINED OPTICAL AND ELECTRIC CABLES OR LINES
- H02G1/00—Methods or apparatus specially adapted for installing, maintaining, repairing or dismantling electric cables or lines
- H02G1/02—Methods or apparatus specially adapted for installing, maintaining, repairing or dismantling electric cables or lines for overhead lines or cables
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- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01G—HORTICULTURE; CULTIVATION OF VEGETABLES, FLOWERS, RICE, FRUIT, VINES, HOPS OR SEAWEED; FORESTRY; WATERING
- A01G3/00—Cutting implements specially adapted for horticultural purposes; Delimbing standing trees
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
- H02P21/00—Arrangements or methods for the control of electric machines by vector control, e.g. by control of field orientation
- H02P21/0003—Control strategies in general, e.g. linear type, e.g. P, PI, PID, using robust control
- H02P21/0007—Control strategies in general, e.g. linear type, e.g. P, PI, PID, using robust control using sliding mode control
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
- H02P21/00—Arrangements or methods for the control of electric machines by vector control, e.g. by control of field orientation
- H02P21/05—Arrangements or methods for the control of electric machines by vector control, e.g. by control of field orientation specially adapted for damping motor oscillations, e.g. for reducing hunting
-
- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
- H02P21/00—Arrangements or methods for the control of electric machines by vector control, e.g. by control of field orientation
- H02P21/13—Observer control, e.g. using Luenberger observers or Kalman filters
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- Engineering & Computer Science (AREA)
- Power Engineering (AREA)
- Life Sciences & Earth Sciences (AREA)
- Biodiversity & Conservation Biology (AREA)
- Ecology (AREA)
- Forests & Forestry (AREA)
- Environmental Sciences (AREA)
- Feedback Control In General (AREA)
Abstract
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CN202010032157.8A CN111262177B (zh) | 2020-01-13 | 2020-01-13 | 一种树障清理机器人刀具系统滑模控制方法 |
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CN202010032157.8A CN111262177B (zh) | 2020-01-13 | 2020-01-13 | 一种树障清理机器人刀具系统滑模控制方法 |
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CN111262177A true CN111262177A (zh) | 2020-06-09 |
CN111262177B CN111262177B (zh) | 2021-02-12 |
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Citations (6)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JPH09320222A (ja) * | 1996-05-30 | 1997-12-12 | Toshiba Corp | 磁気ディスク装置におけるヘッド位置決め制御方法およびヘッド位置決め制御システム |
CN103411479A (zh) * | 2013-08-01 | 2013-11-27 | 北京理工大学 | 基于滑模和自抗扰技术的坦克炮控系统的复合控制方法 |
CN104270041A (zh) * | 2014-09-26 | 2015-01-07 | 广州航海学院 | 一种基于自抗扰控制技术的绞刀电机同步调速控制系统 |
CN106325291A (zh) * | 2016-10-10 | 2017-01-11 | 上海拓攻机器人有限公司 | 基于滑模控制律和eso的四旋翼飞行器姿态控制方法及系统 |
CN108646778A (zh) * | 2018-07-18 | 2018-10-12 | 哈尔滨工业大学 | 一种垂直起降重复使用运载器的非线性自抗扰控制方法 |
CN110429881A (zh) * | 2019-07-26 | 2019-11-08 | 江苏大学 | 一种永磁同步电机的自抗扰控制方法 |
-
2020
- 2020-01-13 CN CN202010032157.8A patent/CN111262177B/zh active Active
Patent Citations (6)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JPH09320222A (ja) * | 1996-05-30 | 1997-12-12 | Toshiba Corp | 磁気ディスク装置におけるヘッド位置決め制御方法およびヘッド位置決め制御システム |
CN103411479A (zh) * | 2013-08-01 | 2013-11-27 | 北京理工大学 | 基于滑模和自抗扰技术的坦克炮控系统的复合控制方法 |
CN104270041A (zh) * | 2014-09-26 | 2015-01-07 | 广州航海学院 | 一种基于自抗扰控制技术的绞刀电机同步调速控制系统 |
CN106325291A (zh) * | 2016-10-10 | 2017-01-11 | 上海拓攻机器人有限公司 | 基于滑模控制律和eso的四旋翼飞行器姿态控制方法及系统 |
CN108646778A (zh) * | 2018-07-18 | 2018-10-12 | 哈尔滨工业大学 | 一种垂直起降重复使用运载器的非线性自抗扰控制方法 |
CN110429881A (zh) * | 2019-07-26 | 2019-11-08 | 江苏大学 | 一种永磁同步电机的自抗扰控制方法 |
Non-Patent Citations (4)
Title |
---|
张兆靖: "《自抗扰控制系统参数整定方法的研究》", 《万方数据库》 * |
张瑞成: "《基于ESO的轧机主传动非线性延时系统动态滑模控制》", 《电气传动》 * |
张秋雁: "《树障清理空中机器人刀具调速系统控制器设计》", 《微电机》 * |
蔡晓晓: "《敏捷小卫星姿态控制方法研究》", 《万方数据库》 * |
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Effective date of registration: 20231115 Address after: Building 1, 01, No. 109 Zhuangpai Road, Moling Street, Jiangning District, Nanjing City, Jiangsu Province, 211106 (Jiangning Development Zone) Patentee after: NANJING TAISIDE INTELLIGENT TECHNOLOGY Co.,Ltd. Address before: Zhong Ling Jie Nanjing Xuanwu District of Jiangsu Province, No. 50 210014 Patentee before: Nanjing Ninglinghao Technology Co.,Ltd. Effective date of registration: 20231115 Address after: Zhong Ling Jie Nanjing Xuanwu District of Jiangsu Province, No. 50 210014 Patentee after: Nanjing Ninglinghao Technology Co.,Ltd. Address before: No. 29, Qinhuai District, Qinhuai District, Nanjing, Jiangsu Patentee before: Nanjing University of Aeronautics and Astronautics |
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