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�������պ����ѧѧ�� 2011, Vol. 37 Issue (9) :1165-1168,1175    DOI:
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����, ���鿵*
�������պ����ѧ ��ͨ��ѧ�빤��ѧԺ, ���� 100191
Modeling and control for hydraulic nonholonomic constraint transmission system
Wang Yan, Dong Hongkang*
School of Transportation Science and Engineering, Beijing University of Aeronautics and Astronautics, Beijing 100191, China

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ժҪ Ŀǰ����ȫԼ����������(NCT,Nonholonomic Constraint Transmission)ȫ�����õ������,���ڽṹ���ӡ���۰���Ȳ���.�ڱ����ô�����ɵı�ʽҺѹϵͳ��Һ����������������,�õ�ת�ٺ������ɷ���,ͨ�����ڱ������������Դﵽ���ڱ�����ת�ٵ�Ŀ��,�ݴ�ԭ�����Һѹ����ȫԼ������ϵͳ(HNCTS,Hydraulic Nonholonomic Constraint Transmission System).�������ɱ����ô�����ɵ�HNCTSԭ����,������HNCTS���ŵ�,�����˻���HNCTS�������ɶ�ƽ��Cobot��ѧģ��,ʹ��ģ�������㷨ʵ����HNCTS�Ŀ���,�����з����о�.����������:��ģ�������㷨����ʵ��HNCTS�Ľ������;��HNCTS����ʵ��Cobot�ı���Լ�����ơ����������켣.
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Abstract�� Nonholonomic constraint transmission (NCT) is currently driven by a motor, which leads NCT complex and expensive. In the closed hydraulic system composed of concatenate variable pumps, liquid flows continuously and the pump rotate speed is inversely proportional to its displacement. The pump rotate speed can be adjusted by changing its displacement and according to this theory, hydraulic nonholonomic constraint transmission system (HNCTS) was proposed for Cobot. HNCTS had many merits, such as fast response, load stiffness and so on. The mathematical model of 2-DOF plane Cobot based on HNCTS was built for simulation. The fuzzy control algorithm, one input and two outputs, was introduced to control HNCTS. The validity of HNCTS was proved by simulations. Simulation results show that the HNCTS can be decoupling controlled by fuzzy control algorithm, and the HNCTS has the ability to achieve passive constrained control and desired trajectory tracking for Cobot.
Keywords�� hydraulic   Cobot   nonholonomic constraint   fuzzy control     
Received 2010-04-27;


About author: �� ��(1975-),��,������Ǩ��,��ʦ,wybuaa@buaa.edu.cn.
����, ���鿵.Һѹ����ȫԼ������ϵͳ��ģ�������㷨[J]  �������պ����ѧѧ��, 2011,V37(9): 1165-1168,1175
Wang Yan, Dong Hongkang.Modeling and control for hydraulic nonholonomic constraint transmission system[J]  JOURNAL OF BEIJING UNIVERSITY OF AERONAUTICS AND A, 2011,V37(9): 1165-1168,1175
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