一类动量交换刚柔耦合系统的自学习组合控制

Self-learning Assembling Control of a Class of Momentum Exchange Rigid-flexible Coupling Systems

提出自学习组合控制方法实现对一类动量交换刚柔耦合系统的主动控制.在推导动力学方程的基础上,提出组合控制律和在线自学习律并分别证明其稳定性和收敛性.对刚体旋转和柔性梁振动分别设计H_∞控制器和LQR调节器,并馈入角加速度信号构成组合控制系统.仿真算例表明该方法的有效性.

A self-learning assembling control approach for a class of momentum exchange rigid-flexible coupling systems is brought forward. After the derivation of the dynamical equations, the assembling control approach and a self-learning law are presented, whose stability and convergence are proved as well. In this frame, an H∞ controller is designed for the rigid rotation, and an LQR is designed for the flexible vibration, both of which are then assembled together with a feed-in from the angular acceleration. The efficiency is validated by a numerical simulation.