欠驱动陀螺摆系统的非线性控制  

Nonlinear control of gyroscopic pendulum for underactuated systems

作　　者：苏朋[1] 戈新生[2] 

机构地区：[1]北京机械工业学院计算机及自动化系,北京100085 [2]北京机械工业学院基础部,北京100085

出　　处：《北京机械工业学院学报》2006年第3期8-11,16,共5页Journal of Beijing Institute of Machinery

基　　金：国家自然科学基金资助项目(10372014)

摘　　要：欠驱动机械系统是一类构成系统的广义坐标维数多于控制输入维数的非线性系统。本文针对欠驱动陀螺摆系统,利用非线性控制方法分别设计了摇起和平衡控制器。运用部分反馈线性化方法设计了摇起控制器,利用精确反馈线性化方法和近似线性化后的LQR方法设计平衡控制器。两个控制器通过切换装置实现转换。最后通过仿真试验验证了控制器的可行性。Underactuated systems are a class of nonlinear control that the dimension of generalized coordinates is more than the dimension of control input. Swinging up and balancing controllers of underactuated gyroscopic pendulum are designed in the paper based on the nonlinear control. By using the state feedback control of partial feedback linearization and precise feedback linearization, a swing up controller and a balancing controller are designed. Two controllers are properly transformed by using switching . The simulink results show that the proposed method is effective.

关 键 词：欠驱动 陀螺摆 部分反馈线性化 精确反馈线性化 

分 类 号：TP391.9[自动化与计算机技术—计算机应用技术]