基于质点动力学模型的三自由度灯体运动控制研究

Motion control study on 3 degree-of-freedom light body based on particle kinetics model

针对三自由度灯体运动控制系统的多变量、非线性特征,使用拉格朗日函数法对大型灯体运动进行分析建模,得到了描述三自由度灯体运动规律的动力学方程.对于该模型利用多变量非线性系统的逆系统方法通过输入重定义和反馈替代得到伪线性系统,并利用极点配置的方法进行了控制器设计.计算机仿真实验证明,在灯体大角度运动和质心发生漂移的情况下,系统能够快速准确地逼近期望值,动态特性平滑,控制效果较好.

A decoupling motion control approach based on inverse system method has been proposed for the 3 degree-of-freedom（DOF） light body, which is multi-variable, nonlinear and coupled system. The 3 DOF light body＇ s motion is analyzed and the kinetics function is obtained by utilizing the langrange function. The inverse system method of multi-variable nonlinear system is applied to the obtained model and the nonlinear control law is designed by means of the pole assignment method. The simulation results illustrate that in light body motion and bary center drift the system can approach the expected value and has smooth dynamic character and good control effect.