1、null24 1 2008 M2 !9M achine Design and Research Vo.l 24 No. 1Feb. , 2008收稿日期: 2007 - 04- 21文章编号: 1006null2343( 2008) 01null054null04长链传动系统双电机驱动控制研究y +1, nullKy2, null 2( 1.上海第二工业大学null 电子与电气工程学院,上海null 201209, Enullm ai:l w angjjbs 163. com;2.上海交通大学null 材料科学与工程学院,上海 200030)null nullKnull1: 研究分析了长链传动
2、系统的特点b设计了适用于长链传动系统的双电机驱动控制系统b阐明了负载均衡控制和同步跟踪速度控制的原理, 模拟实际应用中的动态负载情况,对双电机驱动的链传动系统进行了稳定性a可靠性测试b实验和工程应用都验证了上述控制方式的有效性b1oM: H;z; ( e;M 6 ms |: TC401null null nullDS M : AStudy onThe Dualnullmotor ControlMethod For TheLong Chain DriveWANG Jiannulljun1, null FAN Chongnulljian2, null CH EN Shannullben2( 1.
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9、93. 4 null G osselin C M, Perreau ltL, Vaillancou rt Ch. S im u lation and comnullpu ternullaid ed k in ematic d esign of threenulldegreenullof freedom spherica lparallelm an ipu lators J. J of Robotic System s. 1995, 12 ( 12):857 869. 5 nulluM F. bW 1i s8 D . U: v, 2000. 6 nullnull j,S . 7 MBi 8#s
10、J.S, 2001, 12 ( 9 ): 1038 1043. 7 null T S Zhao, J S D a,i ZH uang. G eom etric synthesis of spatial paralnulllelman ipu lators w ith few er than six degrees of freedom J. Int.Journal ofMechan icalEng ineering Science, 2002, 216( 12 ): 1175 1185. 8 null H uang Zhen, Li Q in chuan. Type syn th esis p
11、 rincip le ofm inornullm ob ility parallelman ipu lators J. S cien ce In Ch ina( Series E ),2002, 45 ( 3): 241 248. 9 null Z H uang, Q C L .i Type S ynthesis of Symm etrica lLow ernullm ob ilityParallelM echan ism s U sing C onstra intnullsynthesisM ethod J. Innullternational Journal ofRoboticsResea
12、rch, 2003, 22 ( 1): 59 79. 10 null? ,; ,. a1i !9ZE J.0. 2005( 7 ): 45 48. 11 null Fang HR, Fang YF, H an B. Preparation stru cture syn thesis of 5nullDOF symm etrical parallelm an ipu lator C / / IEEE ICMA 2006:PROCEED ING OF TH E 2006 IEEE INTERNATIONAL CONnullFERENCE ON MECHATRONICS AND AUTOMAT ION. 2006, 1 3: 2336 1340. 12 nulluM F,. 4 bWi | J. 2000, 36( 10 ): 55 61.null nullTe:李宁宁( 1982- ),男, 硕士研究生; 主要研究方向:微操作机器人a并联机器人a已发表论文 1篇b571 null null null null null null null null null null null null null nully +: .“d z e
