摘要
具有旋转激励的两自由度平移振荡器(2DTORA)由未驱动的具有2个自由度直线运动的小车和安装在小车上的驱动旋转小球组成,针对这一新型的欠驱动系统,分析其动力学,研究其稳定控制方案.基于拉格朗日方程,建立系统的动力学模型,通过分析动力学的耦合,说明旋转小球目标转角设定在小车2个自由度直线运动方向上时系统是不可控的.采用部分反馈线性化技术,将系统动力学的直接驱动部分线性化,将其未直接驱动部分作为系统的内部动态考虑;选择直接驱动的自由度作为系统输出,进行反馈控制设计;通过分析系统的内部动态,证明了系统零动态的渐近稳定性,保证了整个控制系统的稳定性.最后,通过仿真实验验证了控制器的有效性.
The 2-dimensional translational oscillators with rotating actuator（2DTORA） is a noval underactuated system composed of one actuated rotor and two unactuated translational carts.The mathematical model of 2DTORA is analyzed and a stabilization control method is presented.The analysis of the system＇s dynamics shows that the system is uncontrollable when desired angular position of the rotor are set to the angles aligned to the two translational directions of the carts.By using partial feedback linearization technique,the active degree corresponding to the configuration freedoms of 2DTORA is linearized,while the passive degrees are taken as the internal dynamics of the system.A state feedback controller of the linearized subsystem was designed by choosing the active rotor angle as the system output.It is proved that the stability of the whole controlled system is guaranteed by the stability of the zero dynamics.Finally,simulation results demonstrate the feasibility of the presented controller.
出处
《东南大学学报（自然科学版）》
EI
CAS
CSCD
北大核心
2011年第2期321-325,共5页
Journal of Southeast University：Natural Science Edition
基金
东南大学基本科研业务资助项目(3216000502)
教育部博士点基金资助项目(20100092120045)
关键词
2DTORA
欠驱动系统
非线性控制
零动态
部分反馈线性化
2-dimensional translational oscillators with rotating actuator
underactuated system
nonlinear control
zero dynamics
partial feedback linearization
