基于虚拟完整约束的欠驱动球摆系统稳定性控制  

Stability control of underactuated pendulum system based on virtual integrity constraints

作　　者：赵晨 戈新生[2] ZHAO Chen;GE Xinsheng(School of Automation,Beijing Information Science &Technology University,Beijing 100192,China;School of Mechanical and Electrical Engineering,Beijing Information Science &Technology University,Beijing 100192,China)

机构地区：[1]北京信息科技大学自动化学院,北京100192 [2]北京信息科技大学机电工程学院,北京100192

出　　处：《北京信息科技大学学报（自然科学版）》2019年第4期36-40,共5页Journal of Beijing Information Science and Technology University

基　　金：国家自然科学基金资助项目(11472058;11732005)

摘　　要：应用虚拟完整约束方法分析了欠驱动球摆系统的控制稳定问题。首先建立球摆系统的拉格朗日动力学模型,确定系统广义坐标间的线性约束关系,利用反馈线性化方法求得系统的状态方程,并设计出基于线性二次调节器的反馈控制器。仿真结果表明摆球可以在铅垂面内进行周期摆动且运动轨迹与期望结果相吻合,证明了虚拟约束方法对欠驱动球摆系统稳定控制的可行性和有效性,为以后解决其他高阶复杂欠驱动系统的控制问题提供了新的思路。The control stability of underactuated spherical pendulum system is studied by using virtual holonomic constraint method. Firstly, Lagrange dynamic model of the spherical pendulum system is established, and the linear constraints between the generalized coordinates of the system are determined. The state equation of the system is obtained by using the feedback linearization method, and the feedback controller based on the linear quadratic regulator is designed. The simulation results show that the pendulum can oscillate periodically in the vertical plane and the trajectory of the pendulum matches the expected results. It proves the feasibility and validity of the virtual constraint method for the stability control of the underactuated pendulum system, and provides a new idea for solving the control problems of other high-order complex underactuated systems in the future.

关 键 词：欠驱动 虚拟完整约束 部分反馈线性化 球摆系统 

分 类 号：TP183[自动化与计算机技术—控制理论与控制工程]