基于旋转激励的平移振荡器运动控制技术研究

发布时间：2018-01-03 19:08

本文关键词：基于旋转激励的平移振荡器运动控制技术研究　出处：《大连理工大学》2016年硕士论文　论文类型：学位论文

【摘要】：欠驱动机械系统作为一种典型的非线性系统,由于自身控制输入数少于系统自由度,给控制器设计带来了很大挑战；到目前为止,仍没有一种适用于所有欠驱动系统的控制方法被提出。为了深入研究欠驱动机械系统的控制理论,人们提出了基于旋转激励的平移振荡器(Translational Oscillator with Rotating Actuator, TORA)基准系统,该系统由航天领域中双自旋卫星的共振捕获现象抽象得出。将TORA作为被控对象,可以对非线性控制算法的有效性、鲁棒性以及快速性等控制性能进行分析对比。本文参照TORA基准系统,提出了一种单层框架形式的TORA系统,该系统可看作土木结构振动主动控制系统的一种简化模型,并且与原TORA基准系统具有相同的数学模型；利用拉格朗日分析力学方程完成了TORA系统的数学建模,并通过数字仿真实验验证了模型的准确性。以建立的TORA系统数学模型为基础,分析了系统的平衡点,以及系统在平衡点附件的能控性及能观性；针对TORA系统的欠驱动特性,设计了一种分层滑模变结构控制器；通过理论分析和数字仿真实验,证明了整个闭环控制系统的稳定性,并根据数字仿真实验的结果定量地分析了控制系统的有效性以及鲁棒性。为进一步对控制系统性能进行分析,搭建了以dSPACE系统作为控制单元的半实物仿真实验平台,利用dSPACE系统的快速控制原型功能,将实际加工出的单层框架TORA作为被控对象,选取了用于测量和反馈系统状态信号的传感器,搭建了半实物仿真实验平台；通过系统辨识,得到了控制系统的系统参数；通过半实物仿真实验证明了上述设计的有效性和鲁棒性。
[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.

【学位授予单位】：大连理工大学
【学位级别】：硕士
【学位授予年份】：2016
【分类号】：V442

【引证文献】