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基于输出反馈的欠驱动TORA系统的有界输入控制

武宪青 徐可心 张益波

武宪青, 徐可心, 张益波. 基于输出反馈的欠驱动TORA系统的有界输入控制. 自动化学报, 2020, 46(1): 200-204. doi: 10.16383/j.aas.c180625
引用本文: 武宪青, 徐可心, 张益波. 基于输出反馈的欠驱动TORA系统的有界输入控制. 自动化学报, 2020, 46(1): 200-204. doi: 10.16383/j.aas.c180625
WU Xian-Qing, XU Ke-Xin, ZHANG Yi-Bo. Output-based Feedback Control of Underactuated TORA Systems by Bounded Inputs. ACTA AUTOMATICA SINICA, 2020, 46(1): 200-204. doi: 10.16383/j.aas.c180625
Citation: WU Xian-Qing, XU Ke-Xin, ZHANG Yi-Bo. Output-based Feedback Control of Underactuated TORA Systems by Bounded Inputs. ACTA AUTOMATICA SINICA, 2020, 46(1): 200-204. doi: 10.16383/j.aas.c180625

基于输出反馈的欠驱动TORA系统的有界输入控制

doi: 10.16383/j.aas.c180625
基金项目: 

浙江省自然科学基金 LQ18F030011

浙江省自然科学基金 LQ19F030014

国家自然科学基金 61803339

详细信息
    作者简介:

    徐可心  浙江理工大学机械与自动控制学院硕士研究生.主要研究方向为桥式吊车, TORA/RTAC等欠驱动系统控制. E-mail: xukexinskkk@163.com

    张益波  浙江理工大学机械与自动控制学院副教授.主要研究方向为滑模控制, 自适应控制. E-mail: zhangy41@163.com

    通讯作者:

    武宪青   浙江理工大学机械与自动控制学院讲师.主要研究方向为桥式吊车, TORA/RTAC等欠驱动系统控制.本文通信作者. E-mail: wxq@zstu.edu.cn

Output-based Feedback Control of Underactuated TORA Systems by Bounded Inputs

Funds: 

Natural Science Foundation of Zhejiang Province LQ18F030011

Natural Science Foundation of Zhejiang Province LQ19F030014

National Natural Science Foundation of China 61803339

More Information
    Author Bio:

    XU Ke-Xin   Master student at the Faculty of Mechanical Engineering and Automation, Zhejiang Sci-Tech University. Her research interest covers control of underactuated systems including overhead cranes and TORA/RTAC

    ZHANG Yi-Bo   Associate professor at the Faculty of Mechanical Engineering and Automation, Zhejiang Sci-Tech University. His research interest covers sliding mode control and adaptive control

    Corresponding author: WU Xian-Qing   Lecturer at the Faculty of Mechanical Engineering and Automation, Zhejiang Sci-Tech University. His research interest covers control of underactuated systems including overhead cranes and TORA/RTAC. Corresponding author of this paper
  • 摘要: 针对欠驱动TORA (Translational oscillations with a rotational actuator)系统, 设计了一种具有执行器饱和约束的输出反馈控制器.与其他现有方法相比, 本文方法不仅考虑了执行器饱和约束和速度信号不可测情形, 而且考虑了旋转小球可能存在的循环行为.具体而言, 首先根据TORA系统模型分析了TORA系统的控制目标; 随后, 构造了一种新颖的能量函数, 在此基础上设计了一种考虑执行器饱和约束的输出反馈控制器, 并通过严格的数学分析证明了闭环系统关于平衡点的稳定性; 最后, 借助数值仿真测试检验了所提控制器的控制性能, 并与已有方法进行了对比.仿真测试结果表明本文所提方法具有更好的控制性能.
    Recommended by Associate Editor ZHU Bing
    1)  本文责任编委 诸兵
  • 图  1  TORA系统结构图

    Fig.  1  TORA system structure

    图  2  镇定控制仿真测试结果

    Fig.  2  Simulation results of the stabilization control

    图  3  小车位移仿真结果对比图

    Fig.  3  Simulation comparison results of the cart position

    图  4  小球旋转角度仿真结果对比图

    Fig.  4  Simulation comparison results of the rotational angle

    图  5  输入转矩仿真结果对比图

    Fig.  5  Simulation comparison results of the input torque

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出版历程
  • 收稿日期:  2018-09-21
  • 录用日期:  2018-12-12
  • 刊出日期:  2020-01-21

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