基于模型降阶的平面三连杆欠驱动机械系统位置控制  

Position Control of a Planar Three-link Underactuated Mechanical System Based on Model Reduction

作　　者：盛洋[1] 赖旭芝[2] 吴敏[2] 

机构地区：[1]中南大学信息科学与工程学院,长沙410083 [2]中国地质大学自动化学院,武汉430074

出　　处：《自动化学报》2014年第7期1303-1310,共8页Acta Automatica Sinica

基　　金：国家自然科学基金(61374106;61074112);中南大学中央高校基本科研业务费专项资金(2014zzts209)资助~~

摘　　要：针对第一关节为被动的平面三连杆欠驱动机械系统,提出一种基于模型降阶的位置控制方法.首先,建立平面三连杆欠驱动系统数学模型,并分析其积分特性;其次,将部分可积的三连杆系统分段降阶为两个完全可积的两连杆子系统,并基于两子系统获得系统驱动杆与欠驱动杆之间的状态约束关系;然后,利用粒子群优化算法,根据系统末端点目标位置计算驱动杆目标角度;最后,分别设计两连杆子系统控制器,实现系统从任意初始位置到任意目标位置的控制目标.仿真结果验证所提控制策略的有效性.This paper presents a position control method based on model reduction for a planar three-link passive-activeactive （PAA） under-actuated mechanical system with a passive first joint. Firstly, a mathematical model of the system is built, and its integral characteristic is analyzed. Next, the partially integrable three-link system is reduced to two completely integrable two-link systems by the method of piecewise degree reduction, and the state constraint relationships of the system between the active link and the passive link can be obtained based on the two subsystems. Then, the target angles of the active links are calculated by particle swarm optimization （PSO） algorithm according to the target position of the end of the system. Finally, the controllers of the two link subsystems are designed respectively to achieve the system control objective from any initial position to any target position. Simulation results demonstrate the validity of the proposed control method.

关 键 词：平面欠驱动机械系统 模型降阶 位置控制 粒子群优化算法 LYAPUNOV函数 

分 类 号：TP273[自动化与计算机技术—检测技术与自动化装置]