欠驱动TORA振荡轨迹跟踪的模糊控制设计

Fuzzy control design of oscillating trajectory tracking for underactuated TORA

欠驱动TORA(Translational oscillators with rotating actuator)传统控制目标是实现平衡点的稳定控制。针对系统的周期性振荡轨迹,研究实用的轨迹跟踪控制方案。通过分析TORA系统的动力学,得到平移小车的自然振荡周期,在此基础之上设计一种平移小车周期运动和旋转小球保持定值的动态轨迹。为实现系统动态轨迹的跟踪控制,基于系统状态变量的轨迹跟踪误差设计模糊控制系统;通过设计融合函数合并系统状态变量,将模糊控制器的输入数由4减少到2,再设计模糊控制规则,得到易于实现的模糊控制器。最后,仿真和实验结果验证了所提控制方案的有效性与实用性。

Conventional research work on underactuated TORA(Translational oscillator with rotational actuator)system mainly focused on stabilizing control of equilibrium points.A practical trajectory tracking control design scheme was proposed to steer periodic oscillating trajectories of TORA system.Based on the dynamics of TORA,the natural period of translational oscillation cart was derived,and then the dynamic periodic orbits were followed,namely,the translational oscillation cart oscillating periodically while the rotational proof mass being stabilized at the fixed angle.To track the designed trajectory successfully,tracking errors of system’s state variables were employed as the inputs of fuzzy control system.And a fusion function was applied for inputting tracking errors such that the input number of the fuzzy controller decreases from 4 to 2.Consequently,the corresponding fuzzy rules were established and a practical fuzzy controller was achieved.Finally,simulation results and experimental results validate efficiency and practicability of the proposed control scheme.