RCP-based HIL Simulation and Control for 2-DOF Tracking Robot of Maneuvering Target

被引：2
|
作者：
Tong, Zhizhong [1 ]
Zhang, Hui [1 ]
Ye, Zhengmao [1 ]
Han, Junwei [1 ]
机构：
[1] Harbin Inst Technol, Sch Mechatron Engn, Harbin 150006, Peoples R China
来源：
2009 INTERNATIONAL ASIA CONFERENCE ON INFORMATICS IN CONTROL, AUTOMATION, AND ROBOTICS, PROCEEDINGS | 2009年
关键词：
HIL simulatgion; RCP; target tracking robot; real-time;
D O I：
10.1109/CAR.2009.82
中图分类号：
TP [自动化技术、计算机技术];
学科分类号：
0812 ;
摘要：
The research on tracking control system of maneuvering target is a hot issue. 2-DOF robot has kinematic capability of tracking non-maneuvering and maneuvering targets in air, while the servo control of the robot is crucial for the performance of target tracking. Traditional routine, including modeling, simulation and controller design, is a serial process, so the burdensome iterative steps bring about restrictions to the development period and efficiency. RCP as a live design can realize a smooth and fast transition from conceptual design to experimental verifications. Based on this technique a design routine is proposed and used for HIL simulation of 2-DOF Tracking Robot of Maneuvering Target. Experimental results show that the new routine is efficient and the requirements are better fulfilled.
引用
收藏
页码：121 / 125
页数：5
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