基于Routh判据+主导极点法在高阶系统中的稳定性研究  

Research on Stability of the High-order System Based on the Routh Criterion and Dominant Pole Method

作　　者：林显新 苏茜[1] 叶城保 李国进[2] 梁林 Lin Xianxin;Su Qian;Ye Chengbao;Li Guojin;Liang Lin(School of Mechanical Engineering,Guangxi Technological College of Machinery and Electricity,Nanning 530007,China;School of Electrical Engineering,Guangxi University,Nanning 530004,China;Manchebisi High Tech Co.,Ltd.,Nanning 530007,China)

机构地区：[1]广西机电职业技术学院机械工程学院,广西南宁530007 [2]广西大学电气工程学院,广西南宁530004 [3]曼彻彼斯高新技术有限公司,广西南宁530007

出　　处：《机械传动》2024年第6期35-40,共6页Journal of Mechanical Transmission

基　　金：2023年度广西高校中青年教师科研基础能力提升项目(2023KY1115);教育部人文社会科学研究项目(YB2021020202)。

摘　　要：构建了全向机器人在斜坡上运动的受力模型,计算出模型系统函数,分析了载重、坡度θ、惯性等干扰对系统的影响,提出采用Routh判据为该高阶系统稳定条件,用根轨迹主导极点法获得相似2阶系统,观测系统性能指标,获得最优解方案。仿真验证说明,载重K=3.25kg时,全向机器人在斜坡运动系统自校正效果较好,表明采用Routh判据+主导极点法研究高阶系统的稳定性可行有效,为后续研究变值θ扰动下更高阶系统校正提供了一定参考。The force model of the omnidirectional robot moving on the slope is constructed,the system function of the model is calculated,and the influence on the system due to load,slopeθ,inertia and other disturbances is analyzed.The Routh criterion is proposed as the stability condition of the high-order system,and the root-locus dominant pole method is used to obtain a similar second-order system.The system performance index is observed and the optimal solution is obtained.The simulation results show that when the load K is 3.25 kg,the self-correction effect of the omni-directional robot on the slope motion system is better,which shows that using the Routh criterion and dominant pole method to study the stability of the high-order system is feasible and effective,and it provides a certain reference for future research on high-order system correction under the disturbance of the variableθ.

关 键 词：全向机器人 Routh判据 主导极点法 系统稳定性 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置]