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TORA系统分层滑模控制方法研究

发表时间:2011-11-30  浏览量:1352  下载量:366
全部作者: 包宇庆,谢吉华,高丙团
作者单位: 东南大学电气工程学院
摘 要: 针对欠驱动具有旋转激励的平移振荡器(translational oscillator with rotational actuator, TORA),设计了2种分层滑模控制器。首先,将TORA系统2个运动自由度中每一个运动自由度的2个状态变量看成一个子系统,分别构造子滑模面;然后,将系统的总滑模面写成2个子滑模面函数的形式。2种分层滑模控制方法中,第1种方法是将总滑模面写成2个子滑模面的分段线性函数的形式,以保证各子滑模面的稳定;第2种方法的总滑模面为各子滑模面的连续线性函数,连续线性函数系数的符号须对系统模型进行具体分析获得。仿真实验分别验证了2种控制方法的有效性,且实验结果表明第2种控制方法效果更好。
关 键 词: 机器人控制;欠驱动;旋转激励的平移振荡器;滑模控制
Title: Research on hierarchical sliding mode control method of TORA system
Author: BAO Yuqing, XIE Jihua, GAO Bingtuan
Organization: Electrical Engineering School, Southeast University
Abstract: Two different hierarchical sliding mode controllers are designed for an underactuated translational oscillator with rotational actuator (TORA) system. Firstly, the TORA system is separated into two subsystems according to the degrees of freedom. Each subsystem contains two state variables, which are chosen to construct a sub-sliding surface. And the total sliding surface is defined as a function of the two sub-sliding surfaces. For the two methods of hierarchical sliding mode control, the first method is to define the total sliding surface as a piecewise linear function of the two sub-sliding surfaces. With this method, the stability of each sub-system can be guaranteed theoretically. The second method is to define the total sliding surface as a continuous linear function of the two sub-sliding surfaces. However, the coefficient sign of the continuous linear function should be determined by analyzing the model. Finally, simulation results demonstrate the feasibility of the two controllers. Moreover, simulation results of the controlled system with the second method have better performance than those with the first method.
Key words: robot control; underactuated; translational oscillator with rotational actuator; sliding mode control
发表期数: 2011年11月第22期
引用格式: 包宇庆,谢吉华,高丙团. TORA系统分层滑模控制方法研究[J]. 中国科技论文在线精品论文,2011,4(22):2035-2040.
 
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