具有参数不确定性的2DTORA系统振动抑制控制  

Vibration suppression control for 2D TORA systems with parametric uncertainties

作　　者：杨昕然 陈鹤 YANG Xinran;CHEN He(School of Artificial Intelligence,Hebei University of Technology,Tianjin 300401,China;Hubei Key Laboratory of Digital Textile Equipment,Wuhan Textile University,Wuhan,Hubei 430200,China)

机构地区：[1]河北工业大学人工智能与数据科学学院,天津300401 [2]武汉纺织大学湖北省数字化纺织装备重点实验室,湖北武汉430200

出　　处：《河北工业大学学报》2024年第5期68-75,共8页Journal of Hebei University of Technology

基　　金：国家自然科学基金资助项目(62373134,U20A20198);辽宁省重点科技创新基地联合开放基金暨机器人学国家重点实验室联合开放基金资助项目(2022-KF-22-09);湖北省数字化纺织装备重点实验室(武汉纺织大学)资助项目(DTL2023005)。

摘　　要：为解决二维带有旋转执行器的平移振荡器(Two-dimensional Translational Oscillator with Rotational Actua-tor,2D TORA)系统模型参数不确定时的自动控制问题,提出一种2D TORA系统的自适应振动抑制控制方法。通过分析系统的能量和动力学特性,对模型进行整理,设计了一种基于能量的辅助函数。在此基础上设计了自适应控制器与用于估计未知参数的自适应更新律。为进一步增强控制性能,在控制器中加入了包含可驱动量和不可驱动量的振动抑制项。对闭环系统进行了严格的稳定性分析和系统状态变量的收敛性证明。所提控制器能够实现对系统的调节控制,且在弹簧弹性系数等系统模型参数发生改变时仍能保证控制性能。仿真结果表明,该方法在工作效率和鲁棒性方面均具有良好的控制性能。To tackle the control problem for the two-dimensional translational oscillator with rotational actuator(2D TORA)system with parameter uncertainties,we propose an adaptive vibration control method.At first,the dynamic model and system energy of 2D TORA system are analyzed and rearranged.Then proper auxiliary functions based on the system energy are designed,and then an adaptive controller and an adaptive updating law for estimating unknown parameters are designed.To further improve the control performance,well designed vibration suppression terms are included into the controller.Rigorous stability and convergence proof is also provided for the proposed controller.It is shown that by using this controller,we can achieve the regulation objective for the 2D TORA system and when the system parameter is changed,proper performance still can be achieved.Simulation results illustrate that the proposed method can provide satisfactory performance in working efficiency and robustness.

关 键 词：二维平移振荡器 参数不确定性 自适应控制 振动抑制 欠驱动系统 

分 类 号：TP273[自动化与计算机技术—检测技术与自动化装置]