基于虚约束的Acrobot动态伺服控制统一设计方法.PDF

绗?7 鍗 绗? 鏈 鎺 鍒 涓 鍐 绛 2012 骞 6 鏈 Vol. 27 No. 6 Control and Decision Jun. 2012 鏂囩珷缂栧彿: 1001-0920 (2012) 06-0923-06 鍩轰簬铏氱害鏉熺殑Acrobot 鍔ㄦ€佷己鏈嶆帶鍒剁粺涓€璁捐鏂规硶 绋嬬孩澶? 寮犳檽鍗 (鍝堝皵婊ㄥ伐涓氬ぇ瀛︾數姘斿伐绋嬪強鑷姩鍖栧闄紝鍝堝皵婊?50001) 鎽 瑕? 鎻愬嚭涓€绉嶅熀浜庤櫄绾︽潫鐨勭粺涓€璁捐鏂规硶, 浠ヨВ鍐矨crobot 绯荤粺涓姩鎬佷己鏈嶆帶鍒堕棶棰? 浣跨郴缁熸部鐫€缁忚繃鐩爣鐐圭殑 鍛ㄦ湡杞ㄨ抗杩愬姩. 灏嗚櫄绾︽潫璁捐銆佽櫄绾︽潫浣滅敤涓嬬郴缁熼浂鍔ㄦ€佸井鍒嗘柟绋嬪垎鏋愪互鍙婅建閬撳懆鏈熸€у垽瀹氱浉缁撳悎, 鑾峰緱浜嗙鍚堢洰 鏍囩殑鍛ㄦ湡杞ㄩ亾鏂圭▼; 鍩轰簬Lyapunov 鏂规硶璁捐浜嗗厜婊戝弽棣堟帶鍒跺櫒, 鍏嬫湇浜嗗熀浜庣嚎鎬т簩娆″瀷璋冭妭鍣?LQR) 鐨勬帶鍒跺櫒瀵归浂 鍔ㄦ€佸井鍒嗘柟绋嬭В鏋愯В鐨勪緷璧栨€ч棶棰? 瀹為檯绠椾緥鐨勪豢鐪熺粨鏋滆〃鏄庝簡缁熶竴璁捐鏂规硶鐨勬湁鏁堟€? 鍏抽敭璇岤 铏氱害鏉燂紱Acrobot 锛涚粺涓€璁捐鏂规硶锛涘姩鎬佷己鏈嶆帶鍒讹紱Lyapunov 鏂规硶 涓浘鍒嗙被鍙耳 TP273 鏂囩尞鏍囪瘑鐮? A Virtual constraints based general design method for dynamical servo control problem for Acrobot CHENG Hong-tai, ZHANG Xiao-hua (School of Electrical Engineering and Automation锛孒arbin Institute of Technology 锛孒arbin 150001 锛孋hina. Correspondent 锛欳HENG Hong-tai锛孍-mail 锛歳edsun cheng@163.com) Abstract: The virtual constraints based general design method is proposed to solve a dynamical servo control problems for the Acrobot system, which forcing it to move along the periodic trajectory passing through the given points.The design of virtual constraint, analysis of system zero dynamics under virtual constraint and periodic property determination of the trajectory are combined to generate the desired periodic orbit function. Based on a Lyapunov methed, smooth feedback controller is proposed to overcome the dependency on the analytic solution of the system zero dynamics which exists in LQR based controller. An example is given and the simulation results show the effectiveness of the proposed general design method. Key words: virtual constraints 锛汚crobot 锛沢eneral design