利用正交脉冲函数求解液压机器人模型参照自适应控制及其微机实现

Solution of Hydraulic Robot Model Reference Adaptive Control via Block Pulse Functions and Its Micro-Computer Realization

摘要: 本文采用Block Pulse Functions（BPF）将模型参考自适应控制的时变调节器微分方程转化为代数方程，从而简化了方程求解和微机控制过程．实验结果表明，采用BPF求解的模型参考自适应微机-单自由度液压机械手控制系统动态响应快、稳态定位精确及抗干扰性能好．

Abstract: Transforming differential equations of model reference adaptive time-variant regu-lators into an algebraic form via block pulse functions makes control strategy be solvedeasily and realized conveniently by micro-computer.Experiments show a micro-computerbased one joint hydraulic robot control system has quick dynamic response,accuratepositioning and good anti-interferences performance.