本文關鍵詞：基于旋轉激勵的平移振蕩器運動控制技術研究　出處：《大連理工大學》2016年碩士論文　論文類型：學位論文

  更多相關文章： TORA系統(tǒng) 拉格朗日方程 分層滑�？刂� 參數(shù)辨識 半實物仿真

【摘要】：欠驅動機械系統(tǒng)作為一種典型的非線性系統(tǒng),由于自身控制輸入數(shù)少于系統(tǒng)自由度,給控制器設計帶來了很大挑戰(zhàn)；到目前為止,仍沒有一種適用于所有欠驅動系統(tǒng)的控制方法被提出。為了深入研究欠驅動機械系統(tǒng)的控制理論,人們提出了基于旋轉激勵的平移振蕩器(Translational Oscillator with Rotating Actuator, TORA)基準系統(tǒng),該系統(tǒng)由航天領域中雙自旋衛(wèi)星的共振捕獲現(xiàn)象抽象得出。將TORA作為被控對象,可以對非線性控制算法的有效性、魯棒性以及快速性等控制性能進行分析對比。本文參照TORA基準系統(tǒng),提出了一種單層框架形式的TORA系統(tǒng),該系統(tǒng)可看作土木結構振動主動控制系統(tǒng)的一種簡化模型,并且與原TORA基準系統(tǒng)具有相同的數(shù)學模型；利用拉格朗日分析力學方程完成了TORA系統(tǒng)的數(shù)學建模,并通過數(shù)字仿真實驗驗證了模型的準確性。以建立的TORA系統(tǒng)數(shù)學模型為基礎,分析了系統(tǒng)的平衡點,以及系統(tǒng)在平衡點附件的能控性及能觀性；針對TORA系統(tǒng)的欠驅動特性,設計了一種分層滑模變結構控制器；通過理論分析和數(shù)字仿真實驗,證明了整個閉環(huán)控制系統(tǒng)的穩(wěn)定性,并根據(jù)數(shù)字仿真實驗的結果定量地分析了控制系統(tǒng)的有效性以及魯棒性。為進一步對控制系統(tǒng)性能進行分析,搭建了以dSPACE系統(tǒng)作為控制單元的半實物仿真實驗平臺,利用dSPACE系統(tǒng)的快速控制原型功能,將實際加工出的單層框架TORA作為被控對象,選取了用于測量和反饋系統(tǒng)狀態(tài)信號的傳感器,搭建了半實物仿真實驗平臺；通過系統(tǒng)辨識,得到了控制系統(tǒng)的系統(tǒng)參數(shù)；通過半實物仿真實驗證明了上述設計的有效性和魯棒性。
[Abstract]:Not as a typical nonlinear system driven mechanical system, because the number is less than the degree of freedom control system input, brought great challenges to the controller design; so far, still not a suitable control method for all underactuated systems is presented. In order to control the further study of the theory of underactuated mechanical systems, people put forward based on the translational oscillator rotational excitation (Translational Oscillator with Rotating Actuator, TORA) reference system, the system is composed of Resonant Dual Spin Satellite in space. The TORA will capture Abstract phenomenon as the object of the effectiveness of the nonlinear control algorithm, analysis the robustness and speed control performance. According to TORA the benchmark system, proposed a TORA system with single frame form, the system can actively control system as a civil engineering structure vibration A simplified model, and has the same mathematical model with the original TORA reference system; analytical mechanics equation complete mathematical modeling of TORA systems by Lagrange, and the accuracy of the model is verified by digital simulation. TORA system which is based on the developed model, the equilibrium point of the system are analyzed, and the control system and can in view of the equilibrium point of attachment; TORA system for underactuated characteristics, a hierarchical sliding mode controller is designed; through theoretical analysis and numerical simulation proved that the stability of the whole closed-loop control system, and according to the digital simulation results to quantitatively analyze the validity of the control system and robustness the performance of the control system. For further analysis, built to the dSPACE system as the control unit of the semi physical simulation platform, using dSPACE system to control the original The TORA type functions, the actual processing of single story frame as the object for measurement and feedback signal sensor system state selection, set up a semi physical simulation platform; through system identification, the system parameters of control system; simulation result proves the validity and robustness of the design.

【學位授予單位】：大連理工大學
【學位級別】：碩士
【學位授予年份】：2016
【分類號】：V442

【引證文獻】

相關期刊論文 前1條

1 和童昭;張永立;李欣頎;王磁州;;TORA系統(tǒng)的李亞普諾夫函數(shù)控制設計[J];天津職業(yè)技術師范大學學報;2017年02期

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本文編號：1375191