刚体转动渐进跟踪控制的逆系统方法

The Inverse System Method to the Progressive Tracking of the Rigid Body System

逆系统方法是以非线性控制为目的,以直接分析为途径,以动态系统的逆概念为核心。该文将逆系统方法应用于刚体动力学中,运用非线性控制的逆系统方法设计Euler动力学方程的控制器,通过对一个陀螺的外力矩进行实施控制,使刚体在动坐标系下的角速度稳定跟踪指令,来实现对刚体转动的渐进跟踪控制。

Nonlinear control is the purpose, direct analysis is the route, and the concept of 搃nversion?of dynamic system is the kernel of this theory. The author applies the inverse system method to rigid body dynamics system and designs a control of the Euler dynamic equations, so that the angular velocity of a rigid body keeps track of the dictate in the coordinate of motion. The progressive tracking of the motion of a rigid body is realized by controlling outside moment of a rotor.