【作者】 谢维；

【导师】 谢进；

【作者基本信息】 西南交通大学 ， 机械电子工程， 2003， 硕士

【摘要】 机电设备在当今工业中得到广泛地应用，它有效地加快了工业生产自动化的进程，影响着各行各业的发展，而其中设计方法直接决定着机电产品性能的好坏。如何通过改进机电系统的设计方法来提高产品的性能已成为现今众所关注的热点领域。 以前的机电系统设计是分开处理机构部分与控制部分，先设计机构部分，再设计控制部分。这样，控制部分受到机构部分的制约，即使先进的控制器也不能有效地消除由于机构设计不合理引起的振动、精度不高等问题。所以关于如何高效地把机构设计与控制器设计结合起来的研究具有重要的理论和实际意义。 论文主要研究的内容是：对机电系统中机构与控制并行设计的方法(即如何把机构设计与控制设计相结合)进行了理论上的探讨，指出通过改善机构的构型和对机构进行质量平衡能有效地简化控制部分的设计、减小系统的速度波动、提高综合性能。通过分析机器人手的演化来揭示机构的构型与控制设计之间的关系。在电机驱动的平面四杆机构设计中，首先对机构进行质量平衡，这不但减小了速度波动，而且也简化了状态方程；再针对系统的状态方程非线性、时变特性选用单神经元自适应PID控制器的方法，有效的消除了系统的速度波动。论文利用MATLAB对电机驱动平面四杆机构的运动性能进行了模拟，对相关结论进行了验证。更多还原

【Abstract】 Mechatronics system is used widely in modern industry. It can facilitate the development of automation and influence every field Within the Mechatrocis. The design methodology determines the quality of products. How to improve the design methodology to better the quality of products is concerned intensively.In the past, mechanical part and control part are divided sequently, firstly the mechanical part, then the controller. Sometimes the control design is restricted by mechanical design. Even the advanced control system cannot eliminate the problems because of the bad mechanical design, such as vibration and low precision. The research about how to combine mechanical design and control design is meaningful in practice.This thesis consists of three parts. Firstly, it theoretically discusses the concurrent design between mechanical and control system, showing its significance. And we can improve the mechanical design such as morphology and mass-distribution to simplify the control design reduce the vibration of mechatronics system and improve the performance. Secondly, four-bar linkages driven by motor and the robot hands are proposed to analyze the feasibility and necessity of concurrent design. The evolution of robot hands partly shows relationship between the degree of freedom and control. In the design of four-bar linkages driven by motor, the mass-distribution is used to counteract the fluctuation of system and improve the performance. At the same time, this paper applies an adaptive neuron PID controller for nonlinear time-variable system. It efficiently lessens the fluctuation, accompanying with mass-redistribution. At last, this paper simulates the dynamic performance of four-bar linkages driven by motor under the help of MATLAB software package to prove the conclusion mentioned above.更多还原