基于可变设计参数的平面Acrobot位置快速控制方法

发布时间：2018-05-18 00:25

本文选题：平面欠驱动机械系统 + 平面Acrobot　；参考：《电机与控制学报》2017年09期

【摘要】：为平面Acrobot系统(无重力项)提出一种基于可变设计参数的快速位置控制方法。首先,根据平面Acrobot系统的完全可积特性,获取驱动关节与欠驱动关节的角速度和角度约束关系。其次,根据系统的物理结构,推导出末端点坐标位置和两关节角度之间另一类约束关系。然后,基于这两类约束关系,利用粒子群优化算法求取目标位置对应的两杆目标角度。接着,通过构造李雅普诺夫函数为平面Acrobot系统设计控制器,并根据控制器中设计参数的特性,选择一个可变的设计参数,减少控制系统到达目标的时间。利用连杆角速度和角度约束关系,通过控制驱动杆到目标角度同时连带控制欠驱动杆到目标角度,实现系统的控制目标。最后,仿真结果验证所设计控制方法的有效性和快速性。
[Abstract]:A fast position control method based on variable design parameters for planar Acrobot system without gravity term is proposed. Firstly, according to the completely integrable property of planar Acrobot system, the angular velocity and angle constraint relationship between the drive joint and the underactuated joint are obtained. Secondly, according to the physical structure of the system, another kind of constraint relation between the coordinate position of the terminal point and the angle of the two joints is derived. Then, based on the two kinds of constraints, the angle of the target is obtained by using the particle swarm optimization (PSO) algorithm. Then, the Lyapunov function is constructed to design the controller for the planar Acrobot system. According to the characteristics of the design parameters in the controller, a variable design parameter is selected to reduce the time for the control system to reach the target. By controlling the angle from the driving rod to the target and simultaneously controlling the underactuating rod to the target angle, the control goal of the system can be realized by using the relationship between the angular velocity of the connecting rod and the angle constraint. Finally, the simulation results verify the effectiveness and rapidity of the proposed control method.
【作者单位】：中国地质大学(武汉)自动化学院;复杂系统先进控制与智能自动化湖北省重点实验室;
【基金】：国家自然科学基金(61374106) 湖北省自然科学基金(2015CFA010) “111计划”项目(B17040)
【分类号】：TP273

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