随机环境中机器人系统的脉宽调制控制

主动适应国家发展人工智能的宏观规划, 努力对接机器换人与虚拟现实的产业需求, 从理论成果易于转化的实用角度, 本团队将研究随机环境中机器人系统的脉宽调制控制. 对机器人的运动控制是利用信息调节能量转换的方式完成:由机器人向计算机提供信息, 由计算机提供控制信息, 由直流电源提供能量, 由脉宽调制(PWM)伺服电路调制电压, 由直流电机将电源电压转化为转子转矩, 转子驱动机器人机械主体完成跟踪目标. 研究任务主要包括:机器人的拉格朗日力学建模、随机PWM系统的稳定性分析、PWM电路抗随机干扰原理解释、随机等效连续控制器设计、虚拟现实软件研发, 从而构建一个完整的理论框架. 团队的研究需要综合电力电子、分析力学、非线性控制、伺服传动、计算机编程、仿真、随机分析和泛函分析等多个领域的研究工具和发展成果. 这种跨学科面向实际应用的又有特色的研究有很大的挑战性.

Actively adapt to the macro planning of the national development of artificial intelligence, and strive to meet the industrial needs of machine replacement and virtual reality, from the practical point of view that the theoretical results are easy to transform, our team will study the pulse width modulation (PWM)) control of the robot system in a random environment. The motion control of the robot is completed by using information to adjust the energy conversion: the robot provides the information to the computer, the computer provides the control information, the DC power supply provides the energy, the PWM servo circuit modulates the voltage, the DC motor transforms the power supply voltage into the rotor torque, and the rotor drives the robot mechanical body to complete the tracking target. The research tasks include: Lagrangian mechanical modeling of robot, stability analysis of random PWM system, explanation of anti random interference principle of PWM circuit, design of random equivalent continuous controller, and development of virtual reality software, thus, a complete theoretical framework is constructed. The research of the team needs to integrate the research tools and development achievements in many fields, such as power electronics, analytical mechanics, nonlinear control, servo drive, computer programming, simulation, stochastic analysis and functional analysis. This research facing practical application has great challenges since it is interdisciplinary and should be characteristic.