[1]赵海滨,陆志国,刘冲,等.基于能量的水平TORA系统的控制[J].机械与电子,2017,(10):69-72.[doi:1001-2257(2017)10-0069-04]
　ZHAO Haibin,LU Zhiguo,LIU Chong,et al.On the Control of Horizontal TORA System Based on Energy[J].Machinery & Electronics,2017,(10):69-72.[doi:1001-2257(2017)10-0069-04]
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基于能量的水平TORA系统的控制
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《机械与电子》[ISSN:1001-2257/CN:52-1052/TH]

卷:
期数:
2017年10期
页码:
69-72
栏目:
自动控制与检测
出版日期:
2017-10-24

文章信息/Info

Title:
On the Control of Horizontal TORA System Based on Energy
作者:
赵海滨; 陆志国; 刘冲; 颜世玉; 于清文
(东北大学机械工程与自动化学院,辽宁 沈阳 110819)
Author(s):
ZHAO Haibin;  LU Zhiguo;  LIU Chong;  YAN Shiyu;  YU Qingwen
(School of Mechanical Engineering and Automation, Northeastern University, Shenyang 110819, China)
关键词:
TORA系统;  李亚普诺夫方法;  欠驱动系统;  非线性控制
Keywords:
TORA system;  Lyapunov method;  underactuated system;  nonlinear control
分类号:
TP273
DOI:
1001-2257(2017)10-0069-04
文献标志码:
A
摘要:
针对具有旋转激励的平移振荡器(TORA)的控制问题,首先对水平TORA系统和垂直TORA系统的动力学方程和平衡位置等进行了比较分析,然后对水平TORA系统的特点、能量和无源性等进行研究,并根据系统的无源性,通过李亚普诺夫函数,采用基于能量的方法设计了水平TORA系统的控制器。最后,将控制器用于典型的水平TORA系统的控制,并将系统稳定在两个不同的平衡位置(小球的角度分别为0和π/6),通过数值仿真证明了该控制器的有效性。
Abstract:
In order to solve the control problem of Translation Oscillators with Rotating Actuator(TORA)with rotational excitation, the dynamic functions and the equilibrium positions of the horizontal and vertical TORA systems were firstly compared and analyzed; Secondly, the characteristics, energy and passivity of the system were studied; Then, based on the passivity of the system, the controller of the horizontal TORA system was designed by using the energy method and the Lyapunov function; Finally, the controller was used to control a typical horizontal TORA system, and to stabilize the system at two different equilibrium positions(the angular positions of the small ball are 0 and respectively). The simulation results demonstrate the effectiveness of the presented controller.

参考文献/References:

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备注/Memo

备注/Memo:
收稿日期：2017-05-02
基金项目：国家自然科学基金资助项目(51505069、51405073)
作者简介：赵海滨（1979-），男，河北唐山人,讲师，博士，研究方向为机器人仿真和非线性动力学；陆治国(1982-),男,辽宁锦州人,副教授，博士，研究方向为仿人机器人和非线性动力学等。
更新日期/Last Update: 2017-10-25