基于关联跟踪目标的欠驱动系统跟踪控制设计研究

本文针对一类欠驱动系统,在其跟踪目标相互关联情况下进行跟踪控制时,提出了一种控制方法使欠驱动系统达到控制目的。首先按照系统的输入可否直接影响状态可将系统分成2个子系统,其中第一个子系统受控制输入的直接影响达到跟踪目标,第二个子系统没有受控制输入的直接影响,而是通过系统状态之间的耦合关系来达到跟踪目标。其次,此欠驱动系统的跟踪目标相互之间有一定的约束关系,在考虑这种关联跟踪目标的同时,设计出了有效的控制器,实现了欠驱动系统跟踪控制的目标。最后,通过永磁同步电机的仿真实验和球杆系统的仿真实验,进一步验证了控制器设计方案的可行性。

A kind of under-drive system is proposed in this paper and a control method is proposed to make the under-drive system achieve the control purpose when tracking control is performed under the condition that the tracking targets are interrelated.First of all, the system can be divided into two sub-systems according to whether the input of the system can directly affect the degree of freedom.The first subsystem is directly affected by the control input to achieve the tracking target.The second sub-system is not directly affected by the control input, The coupling between the state to achieve the goal of tracking.Secondly, the tracking objectives of this under-driven system have certain restraint relations with each other.While considering the target of such correlation tracking, an effective controller is designed and the target of under-tracking control is achieved.Finally, the simulation experiment of the permanent magnet synchronous motor and the simulation of the club system are carried out to further verify the feasibility of the controller design.