安装在两自由度平面机械臂上的倒立摆控制及其混沌现象的研究
发布时间：2018-09-01 14:19
【摘要】：工程中的许多问题可以抽象为倒立摆的模型或其控制的相关问题。从动力分析的角度看,倒立摆系统是典型的非线性欠驱动系统,其动力学行为十分复杂。因此对它的研究具有重要的理论意义和实际工程意义。 在过去几十年里,对倒立摆系统的研究成果层出不穷。但是,研究的主要对象是直线倒立摆和旋转倒立摆上,对安装在平面直角坐标系上的倒立摆的研究较少,而对安装在平面两自由度机械臂上的倒立摆(固高GPIP2013型倒立摆)的研究更少。 本文针对固高公司GPIP2013型倒立摆的控制及其混沌现象展开研究。 论文的主要研究内容及成果如下： 1.利用固高公司GPIP2013型倒立摆及该公司提供的控制程序进行了实验研究,对实验结果进行了简单分析,总结出了控制过程中会直接影响控制效果的参数,并讨论了这些参数发生变化时,对倒立摆的实际控制效果所产生的影响。 2.对固高公司所提供的GPIP2013型倒立摆原控制程序在实际控制过程中机械臂会出现不稳定运动这一现象进行了分析,提出了将安装在两自由度平面机械臂上的倒立摆控制问题转化为安装在直角坐标系两自由度平面一级倒立摆控制问题的思路,建立了运动学转换关系模型。 3.利用运动学转换关系研究了GPIP2013型倒立摆控制系统中的混沌现象,提出了基于混沌负反馈控制原理的倒立摆稳定控制方法,并利用小车直线一级倒立摆模型对该方法进行了仿真,结果验证了该方法的有效性。
[Abstract]:Many problems in engineering can be abstracted as the model of inverted pendulum or related problems of its control. From the point of view of dynamic analysis, inverted pendulum system is a typical nonlinear underactuated system, and its dynamic behavior is very complex. Therefore, the study of it has important theoretical and practical significance. In the past few decades, the inverted pendulum system has been studied one after another. However, the main research objects are linear inverted pendulum and rotating inverted pendulum. There is less research on inverted pendulum (fixed height GPIP2013 inverted pendulum) mounted on planar two DOF manipulator. In this paper, the control and chaos of GPIP2013 inverted pendulum in Gugao Company are studied. The main research contents and results are as follows: 1. Using GPIP2013 inverted pendulum of Gugao Company and the control program provided by the company, the experimental results are analyzed, and the parameters that will directly affect the control effect in the control process are summarized. The influence of these parameters on the actual control effect of inverted pendulum is discussed. In this paper, the unstable movement of the manipulator in the actual control process of the GPIP2013 inverted pendulum provided by Gugao Company is analyzed. The control problem of inverted pendulum installed on the planar manipulator with two degrees of freedom is transformed into the control problem of the inverted pendulum installed in the right-angle coordinate system with two degrees of freedom. The kinematics transformation relationship model is established. The chaotic phenomena in GPIP2013 inverted pendulum control system are studied by using kinematics transformation relation. A stable control method of inverted pendulum based on chaotic negative feedback control principle is proposed, and the simulation of this method is carried out by using the one-stage inverted pendulum model. The results show that the method is effective.
【学位授予单位】：西南交通大学
【学位级别】：硕士
【学位授予年份】：2012
【分类号】：TH113
[Abstract]:Many problems in engineering can be abstracted as the model of inverted pendulum or related problems of its control. From the point of view of dynamic analysis, inverted pendulum system is a typical nonlinear underactuated system, and its dynamic behavior is very complex. Therefore, the study of it has important theoretical and practical significance. In the past few decades, the inverted pendulum system has been studied one after another. However, the main research objects are linear inverted pendulum and rotating inverted pendulum. There is less research on inverted pendulum (fixed height GPIP2013 inverted pendulum) mounted on planar two DOF manipulator. In this paper, the control and chaos of GPIP2013 inverted pendulum in Gugao Company are studied. The main research contents and results are as follows: 1. Using GPIP2013 inverted pendulum of Gugao Company and the control program provided by the company, the experimental results are analyzed, and the parameters that will directly affect the control effect in the control process are summarized. The influence of these parameters on the actual control effect of inverted pendulum is discussed. In this paper, the unstable movement of the manipulator in the actual control process of the GPIP2013 inverted pendulum provided by Gugao Company is analyzed. The control problem of inverted pendulum installed on the planar manipulator with two degrees of freedom is transformed into the control problem of the inverted pendulum installed in the right-angle coordinate system with two degrees of freedom. The kinematics transformation relationship model is established. The chaotic phenomena in GPIP2013 inverted pendulum control system are studied by using kinematics transformation relation. A stable control method of inverted pendulum based on chaotic negative feedback control principle is proposed, and the simulation of this method is carried out by using the one-stage inverted pendulum model. The results show that the method is effective.
【学位授予单位】：西南交通大学
【学位级别】：硕士
【学位授予年份】：2012
【分类号】：TH113
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