摘要：【中文】一种线性自抗扰控制的动态无扰切换方法，属于工业自动化技术领域。该方法包括一阶线性自抗扰控制器和二阶线性自抗扰控制器的动态无扰切换方法。该动态无扰切换方法分别包括的跟踪算法，以及自抗扰控制与比例‑积分‑微分控制、手动控制三者之间的切换逻辑。本发明所提出的动态无扰切换方法，不仅可以在被控量等于设定值的稳态情况下，也可以在被控量不等于设定值的动态调节过程中实现无扰切换，保证控制量在切换过程中无跳变。仿真测试结果验证了该动态无扰切换方法的有效性，弥补了既有无扰切换方法的不足。 【EN】A dynamic undisturbed switching method for linear active disturbance rejection control belongs to the technical field of industrial automation. The method comprises a dynamic undisturbed switching method of a first-order linear active disturbance rejection controller and a second-order linear active disturbance rejection controller. The dynamic undisturbed switching method comprises a tracking algorithm and switching logics among active disturbance rejection control, proportional-integral-derivative control and manual control. The dynamic undisturbed switching method provided by the invention can realize undisturbed switching not only under the steady-state condition that the controlled quantity is equal to the set value, but also in the dynamic regulation process that the controlled quantity is not equal to the set value, thereby ensuring that the controlled quantity has no jump in the switching process. The simulation test result verifies the effectiveness of the dynamic undisturbed switching method, and makes up the defects of the existing undisturbed switching method.

摘要：【中文】本发明提供了一种齿轨车驱动机构及驱动系统，涉及齿轨车驱动技术领域。该驱动机构包括驱动源，与驱动源传动连接的第一横轴；第一横轴上空套安装有第四齿轮和第八齿轮，第二离合器和第三离合器的主动部固定安装于第一横轴上，两个离合器的从动部空套安装于第一横轴上，第二横轴固定安装有第五齿轮和车轮以及空套安装有第九齿轮和立齿，第八齿轮和第四齿轮分别与第三离合器和第二离合器的从动部固定连接，第九齿轮与立齿固定连接，第九齿轮与第八齿轮啮合，第五齿轮与第四齿轮啮合，实现了同一驱动源驱动轮轨和齿轮，不造成动力源浪费。 【EN】The invention provides a rack vehicle driving mechanism and a driving system, and relates to the technical field of rack vehicle driving. The driving mechanism comprises a driving source and a first transverse shaft in transmission connection with the driving source; the fourth gear and the eighth gear are installed on the first cross shaft in an empty sleeved mode, the driving portions of the second clutch and the third clutch are fixedly installed on the first cross shaft, the driven portions of the two clutches are installed on the first cross shaft in an empty sleeved mode, the fifth gear, the wheels and the ninth gear and the vertical teeth are installed on the second cross shaft in an empty sleeved mode, the eighth gear and the fourth gear are fixedly connected with the driven portions of the third clutch and the second clutch respectively, the ninth gear is fixedly connected with the vertical teeth, the ninth gear is meshed with the eighth gear, the fifth gear is meshed with the fourth gear, the same driving source is used for driving the wheel rail and the gears, and power source waste is avoided.