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一类欠驱动机械系统的智能控制研究
其他题名Research on Intelligent Control of a Class of Under-actuated Mechanical systems
刘殿通
学位类型工学博士
导师易建强
2003-11-01
学位授予单位中国科学院研究生院
学位授予地点中国科学院自动化研究所
学位专业控制理论与控制工程
关键词欠驱动机械系统 桥式吊车 滑模模糊控制 路径跟踪 基于无源的控制 Underactuated Mechanical System Overhead Crane Adaptive Sliding Mode Fuzzy Control Path Tracking Passivity Based Control.
摘要欠驱动机械系统控制研究具有重要的理论意义和实用价值,输入的缺失使得其控制问题成为了一个具有挑战性的热点研究问题。对于欠驱动桥式吊车系统的控制,其实用价值更加明显,并且包含了欠驱动机械系统的各种控制问题。 本文以欠驱动机械系统为背景,以解决桥式吊车系统中的控制问题为主线,结 合中国科学院"百人计划"项目"智能控制方法及应用研究"和留学归国人员 科研启动基金项目"面向复杂系统的模糊推理模型的研究"展开智能控制研究。 首先对欠驱动机械系统及其控制问题进行了介绍,综述了国内外欠驱动机械系统以及桥式吊车系统控制的研究进展,并介绍了选题背景和论文主要内容。 其次利用拉格朗日力学建立了欠驱动机械系统的数学模型,并分析了其模型特性。将欠驱动机械系统部分线性化为仿射非线性系统,分析了约束对于系统可控性的影响,得出了系统近似线性可控的条件。 第三,针对一类具有多个子系统的非线性欠驱动机械系统,提出了一种自适应滑模模糊控制方法。该方法根据系统输出实时调节滑模面斜率和各子系统在系统控制中的作用,使系统取得了较好的动态性能。 第四,简单地介绍了含载荷升降的二维桥式吊车的路径产生方法,利用滑模控制的跟踪性和鲁棒性设计了路径跟踪控制算法,并用自调节模糊推理实时调节各自由度在系统控制中的作用,提高了系统控制性能。 第五,建立了二级摆桥式吊车系统的数学模型,证明了其作为欠驱动机械系统的无源性,分析了影响其两个固有频率的系统参数。利用其无源性设计了基于无源的控制方法,仿真展示了其丰富的动态特性和基于无源控制的有效性。第六,建立了二维运输桥式吊车系统的实验平台并研究了其控制问题。介绍了其硬件结构和具体实现;详细分析和设计了角度传感器;建立其数学模型并进行了分析;实现了控制算法,并给出了实验结果和分析。 最后,对取得的研究成果进行了总结,并展望了需要进一步研究的工作。
其他摘要The research on control of underactuated mechanical systems is very valuable in both theory and applications, and has been a challenging research focus because of the lackness of control inputs. The applicable value is more obvious in controlling underactuated overhead cranes, and overhead cranes have all control problems of underactuated mechanical systems. In this dissertation, the intelligent control problems of an overhead crane are studied as an underactuated mechanical system with the support of the Hundred Talents Program of Chinese Academy of Sciences "Researches of Intelligence Control Methods and Their Applications", and the Project Sponsored by the Scientific Research Foundation for the Returned Overseas Chinese Scholars, State Education Ministry "Research of Fuzzy Inference Model for Complex Systems". Firstly, the underactuated mechanical systems and their control problems are introduced, and the research status of control of underactuated mechanical systems and overhead cranes is reviewed. Secondly, mathematical model of underactuated mechanical systems is established with Lagrange mechanics, and their model properties are analyzed. The underactuated mechanical systems are transformed to affine nonlinear systems with partial feedback linearization, the effects of constrains on system controllablity are analyzed, and the conditions of approximate linear controllability are deduced. Thirdly, based on the similarity of sliding mode control and fuzzy control, an adaptive sliding mode fuzzy control approach is proposed for a class of underactuated mechanical systems with multi-subsystems. In order to improve the system performance, both of the slope of sliding mode surface and the relationship between subsystems are automatically tuned by real time fuzzy inference respectively. Simulation results show the effectiveness of the proposed control approach. Fourthly, the method of path planning is introduced in brief, a sliding mode path tracking control method is designed because of the tracking and robust performance of sliding mode control, and a self-tuning fuzzy inference is designed to adjust the function of each degree of freedom to improve the tracking performance. Simulation results show the effectiveness of the proposed control approach. Fifthly, the model of a double-pendulum-type overhead crane is built, and its passivity is proved. Then, the system parameters affecting the two system's nature frequencies are analyzed. A passivity based control approach is proposed, and the simulations show the rich system dynamics and the effectiveness of the proposed control approach. Sixthly, a two-transport-direction overhead crane prototype is built, and its control problems are discussed. The hardware structure and its realization are introduced, and the design of angle sensor is described in detail. After its mathematical model is e
馆藏号XWLW838
其他标识符838
语种中文
文献类型学位论文
条目标识符http://ir.ia.ac.cn/handle/173211/5790
专题毕业生_博士学位论文
推荐引用方式
GB/T 7714
刘殿通. 一类欠驱动机械系统的智能控制研究[D]. 中国科学院自动化研究所. 中国科学院研究生院,2003.
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