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增量式滑模控制方法在一类欠驱动系统中的应用研究
Alternative TitleResearch on Incremental Sliding Mode Control for a Class of Under-actuated Systems
郝银星
Subtype工学博士
Thesis Advisor易建强
2009-05-26
Degree Grantor中国科学院研究生院
Place of Conferral中国科学院自动化研究所
Degree Discipline控制理论与控制工程
Keyword增量式 滑模控制 欠驱动系统 Incremental Variable Structure Control Under-actuated Systems
Abstract欠驱动系统(under-actuated systems)是指系统的独立控制变量个数小于系统自由度(或广义坐标变量)个数的一类非线性机械系统。它在减少执行元件个数、减轻系统重量以及降低成本方面具有很大的优势。同时,由于欠驱动系统具有高度非线性、参数摄动和多目标控制等要求,对其进行控制具有较大的难度。作为一种具有强鲁棒性的变结构控制方法,滑模控制方法的响应速度快,对系统参数变化和外部扰动具有不变性。因此,可以考虑采用滑模控制方法来实现对欠驱动系统的控制。本文以欠驱动系统为研究对象,结合国家自然科学基金面上项目 “一类欠驱动系统的分层递阶滑模控制方法研究”,展开欠驱动系统的滑模控制方法研究。所完成的工作概括如下: 第一,系统回顾了变结构理论的产生与发展以及欠驱动系统的研究现状,分析了对欠驱动系统采用滑模控制方法所存在的诸多问题,进而提出了本文的研究目的。 第二,利用拉格朗日动力学方法建立了典型欠驱动系统的动力学模型,分析了该模型所具有的结构特性,并以状态方程的形式给出了一类受势能影响的单输入多输出欠驱动系统的统一模型。 第三,针对由两个子系统构成的单输入多输出欠驱动系统,提出了一种增量式滑模控制器,给出了该滑模控制器的设计步骤,从理论上给出了各层滑模面渐近稳定的判定定理,并通过仿真验证了该方法的有效性。 第四,将控制对象由两个子系统构成的单输入多输出欠驱动系统扩展到多自由度的单输入多输出欠驱动系统,基于此类系统的通用模型,提出了一种基于增量式分层递阶结构的通用滑模控制器,给出了该滑模控制器的设计步骤,同时从理论上给出了各层滑模平面均渐近稳定的判定定理,并通过仿真验证了该方法的有效性。 第五,提出了控制受限条件下的基于增量式分层递阶结构的滑模控制器设计方法,运用非线性小增益定理分析了控制系统的稳定性,从而使所设计的控制系统更具实际应用价值,并通过仿真研究验证了控制方法的有效性。 第六,针对系统中可能存在非匹配扰动的问题,提出了一种基于增量式分层递阶滑模的鲁棒控制方法,通过在最后一层滑动平面设计滑模补偿器以补偿非匹配扰动对系统稳定性的影响,并且从理论上分析了各层滑动平面的稳定性,通过仿真验证了该方法的有效性。 第七,总结本文研究成果,并对今后的工作进行了展望。
Other AbstractUnder-actuated systems are characterized by the fact that they have fewer actuators than the degrees-of-freedom (DOF) to be controlled. They are rich in applications, such as education, researches, and engineering, which make them valuable in both theory and applications. On the other hand, their dynamics may contain some properties, such as feedforward nonlinearities, non-minimum phase zero dynamics, non-holonomic constraints, which make their control design difficult. Sliding mode control (SMC) is a robust variable structural control method, which has invariance to systemic parameters and external disturbances. Therefore, it is desired to use SMC to implement the control of under-actuated systems. In this dissertation, the sliding mode control of a class of under-actuated systems is studied under the support of the NSFC Project of China “Researches of Hierarchical Sliding Mode Control for a Class of under-actuated Systems”. The content of the research is described as following: 1. A detailed comment on the present development of the sliding mode variable structure and under-actuated mechanical systems is given, and the problems of the sliding mode control of under-actuated mechanical systems are analysed. Then, the objective of this dissertation is given. 2. Based on Lagrgange mechanics, the mathematical model of a class of under-actuated systems is established. A normal state equation model of the class is deduced. 3. An incremental sliding mode control approach is proposed for the under-actuated systems which has two subsystems. The design steps are given. The stabilities of all sliding mode surfaces are analyzed. 4. An incremental sliding mode control approach is proposed for a class of SIMO under-actuated system. The design steps are given, and the stabilities of all sliding mode surfaces are analyzed. 5. A method based on the incremental sliding surfaces is present for the control systems with input saturation. By using nonlinear small gain theorem, the system stability is analyzed, which makes the present control method more practical. Further, the simulations show the feasibility of the method. 6. A robust control method based on the incremental sliding surfaces is proposed. By considering the mismatched uncertainties of the class, a sliding mode compensator is designed at the last layer slidng surface. The stabilities of all sliding mode surfaces are analyzed. 7. The main conclusions are summarized and the possible avenues of further issues ...
shelfnumXWLW1361
Other Identifier200618014628028
Language中文
Document Type学位论文
Identifierhttp://ir.ia.ac.cn/handle/173211/6163
Collection毕业生_博士学位论文
Recommended Citation
GB/T 7714
郝银星. 增量式滑模控制方法在一类欠驱动系统中的应用研究[D]. 中国科学院自动化研究所. 中国科学院研究生院,2009.
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