基于rcp的二自由度机动目标跟踪机器人HIL仿真与控制

2009 International Asia Conference on Informatics in Control, Automation and Robotics Pub Date : 2009-02-01 DOI:10.1109/CAR.2009.82

Zhizhong Tong, Hui Zhang, Zhengmao Ye, Junwei Han

{"title":"基于rcp的二自由度机动目标跟踪机器人HIL仿真与控制","authors":"Zhizhong Tong, Hui Zhang, Zhengmao Ye, Junwei Han","doi":"10.1109/CAR.2009.82","DOIUrl":null,"url":null,"abstract":"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.","PeriodicalId":320307,"journal":{"name":"2009 International Asia Conference on Informatics in Control, Automation and Robotics","volume":"60 1","pages":"0"},"PeriodicalIF":0.0000,"publicationDate":"2009-02-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":"2","resultStr":"{\"title\":\"RCP-based HIL Simulation and Control for 2-DOF Tracking Robot of Maneuvering Target\",\"authors\":\"Zhizhong Tong, Hui Zhang, Zhengmao Ye, Junwei Han\",\"doi\":\"10.1109/CAR.2009.82\",\"DOIUrl\":null,\"url\":null,\"abstract\":\"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.\",\"PeriodicalId\":320307,\"journal\":{\"name\":\"2009 International Asia Conference on Informatics in Control, Automation and Robotics\",\"volume\":\"60 1\",\"pages\":\"0\"},\"PeriodicalIF\":0.0000,\"publicationDate\":\"2009-02-01\",\"publicationTypes\":\"Journal Article\",\"fieldsOfStudy\":null,\"isOpenAccess\":false,\"openAccessPdf\":\"\",\"citationCount\":\"2\",\"resultStr\":null,\"platform\":\"Semanticscholar\",\"paperid\":null,\"PeriodicalName\":\"2009 International Asia Conference on Informatics in Control, Automation and Robotics\",\"FirstCategoryId\":\"1085\",\"ListUrlMain\":\"https://doi.org/10.1109/CAR.2009.82\",\"RegionNum\":0,\"RegionCategory\":null,\"ArticlePicture\":[],\"TitleCN\":null,\"AbstractTextCN\":null,\"PMCID\":null,\"EPubDate\":\"\",\"PubModel\":\"\",\"JCR\":\"\",\"JCRName\":\"\",\"Score\":null,\"Total\":0}","platform":"Semanticscholar","paperid":null,"PeriodicalName":"2009 International Asia Conference on Informatics in Control, Automation and Robotics","FirstCategoryId":"1085","ListUrlMain":"https://doi.org/10.1109/CAR.2009.82","RegionNum":0,"RegionCategory":null,"ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":null,"EPubDate":"","PubModel":"","JCR":"","JCRName":"","Score":null,"Total":0}

引用次数: 2

摘要

机动目标跟踪控制系统的研究是一个热点问题。二自由度机器人具有跟踪空中非机动和机动目标的运动能力，而机器人的伺服控制对其目标跟踪性能至关重要。传统的程序设计包括建模、仿真和控制器设计，是一个连续的过程，繁琐的迭代步骤限制了开发周期和效率。RCP作为一种实时设计，可以实现从概念设计到实验验证的平稳快速过渡。在此基础上提出了二自由度机动目标跟踪机器人的HIL仿真设计程序。实验结果表明，新程序是有效的，能较好地满足要求。

本文章由计算机程序翻译，如有差异，请以英文原文为准。

查看原文本刊更多论文

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

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.

求助全文

通过发布文献求助，成功后即可免费获取论文全文。去求助

来源期刊

2009 International Asia Conference on Informatics in Control, Automation and Robotics

自引率

0.00%

发文量