Adaptive control method of tora system based on dissipation theory
An adaptive control and theoretical technology, applied in the direction of adaptive control, general control system, control/regulation system, etc., can solve the problems of inability to estimate system parameters online and reduce the control efficiency of underactuated TORA systems
Active Publication Date: 2017-04-12
余正电子科技(嘉兴)有限公司
View PDF0 Cites 2 Cited by
- Summary
- Abstract
- Description
- Claims
- Application Information
AI Technical Summary
Problems solved by technology
At present, most of the control methods cannot estimate the system parameters online. When the system parameters change, it is necessary to re-adjust the gain of the controller repeatedly to achieve the purpose of controlling the TORA system.
However, the process of adjusting the gain undoubtedly greatly reduces the control efficiency of the underactuated TORA system
Method used
the structure of the environmentally friendly knitted fabric provided by the present invention; figure 2 Flow chart of the yarn wrapping machine for environmentally friendly knitted fabrics and storage devices; image 3 Is the parameter map of the yarn covering machine
View moreImage
Smart Image Click on the blue labels to locate them in the text.
Smart ImageViewing Examples
Examples
Experimental program
Comparison scheme
Effect test
Embodiment Construction
[0113] The TORA system adaptive control method based on dissipation theory provided by the present invention comprises the following steps:
[0114] Step 1. Selection of the controlled system
[0115] The simplified models of the existing dual-spin spacecraft mainly include: the rotating ball can rotate in the horizontal plane, the rotating ball can rotate in the vertical plane, and the rotating ball can rotate along the inclined plane. The model considered in the present invention is a simplified model of a dual-spin spacecraft in which the rotating ball can rotate in a vertical plane. The simplified model is composed of a drivable rotating ball and a moving trolley connected with a spring. The ball can rotate in a vertical plane under the driving force of a motor. For the sake of simplicity, the present invention calls this model the TORA system. The dynamic model of the system is expressed as follows:
[0116]
[0117]
[0118] Among them, M is the mass of the transla...
the structure of the environmentally friendly knitted fabric provided by the present invention; figure 2 Flow chart of the yarn wrapping machine for environmentally friendly knitted fabrics and storage devices; image 3 Is the parameter map of the yarn covering machine
Login to View More PUM
Login to View More Abstract
The invention discloses a dissipative structure theory based TORA (Translation oscillators with a rotating actuator) system self-adaption control method. The dissipative structure theory based TORA system self-adaption control method comprises selecting a dual spin spacecraft simplified model with a rotation ball rotating inside a vertical plane; confirming a system control target according to the selected system model; finally providing a self-adaption control method which can control the rotating ball in an unperturbed mode and perform translation on an oscillating car and meanwhile can estimate system unknown parameters on line. Compared with the exiting control method, the dissipative structure theory based TORA system self-adaption control method has the advantages of achieving the purpose of controlling a TORA system, allowing online estimation of the system unknown parameters, being simple and practicable, reducing time for adjusting gain and greatly improving the system control efficiency.
Description
technical field [0001] The invention relates to an automatic control method in the nonlinear underactuated field, in particular to an adaptive control method for an underactuated TORA system based on dissipation theory. Background technique [0002] At present, in our life, most of the systems are nonlinear systems. Therefore, in recent years, the control problem of nonlinear systems has received extensive attention [1-4]. The underactuated system in the nonlinear system has become a hot issue in the field of control because of its many advantages. The so-called underactuated system refers to a type of nonlinear system in which the number of independent control variables of the system is less than the number of degrees of freedom of the system. Usually, an underactuated system can control more controlled state variables through fewer control inputs. Therefore, the underactuated system is superior to the fully actuated system in terms of saving energy, reducing cost, reduci...
Claims
the structure of the environmentally friendly knitted fabric provided by the present invention; figure 2 Flow chart of the yarn wrapping machine for environmentally friendly knitted fabrics and storage devices; image 3 Is the parameter map of the yarn covering machine
Login to View More Application Information
Patent Timeline
Login to View More Patent Type & Authority Patents(China)
IPC IPC(8): G05B13/04
Inventor 武宪青欧县华何熊熊
Owner 余正电子科技(嘉兴)有限公司