摘要
基于(w,z)参数化轴对称Three Dimensions(3D)摆的姿态控制问题研究,提出(w,z)参数描述姿态描述方法。该方法通过2次绕正交轴旋转,引入复变量,将球面上的点向复平面投影。提出Proportion Differentiation(pd)控制对轴对称3D摆的姿态控制方法。首先列出轴对称3D摆的动力学方程,以(w,z)参数表示轴对称3D摆的姿态运动学方程及推导过程。利用(w,z)参数设计出PD控制器,使得轴对称3D刚体摆在其倒立位置渐近稳定。仿真实验验证了控制器对轴称3D摆姿态控制的有效。
The attitude control problems of axis-symmetrical 3D rigid pendulum are studied based on（w,z） parameters,and a new attitude description method-（w,z） parameters is put forward.By two orthogonal axis rotation,complex variables are introduced,the points of ball surface are projected to comlex plane.A new attitude control method of the 3D rigid pendulum-PD control is also proposed.The dynamics equation and kinematics equation are listed based on（w,z） parameters of the 3D rigid pendulum.And the PD controller is designed to make 3D rigid pendulum asymptotically stable.The simulation results validate the effectiveness of the 3D rigid pendulum controller.
出处
《北京信息科技大学学报（自然科学版）》
2012年第5期49-53,63,共6页
Journal of Beijing Information Science and Technology University
基金
国家自然科学基金项目(11072038)
北京市自然科学基金重点项目B类(KZ20110772039)
