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Nonlinear coupled adaptive control method for multi-rotationally excited translational oscillator systems

A nonlinear coupling and adaptive control technology, applied in adaptive control, general control system, control/adjustment system, etc., can solve problems such as system chattering, unknown component size, equipment damage, etc.

Active Publication Date: 2019-12-03
NANKAI UNIV
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

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Problems solved by technology

However, the shortcomings of existing control methods lie in the need for accurate system models, or the designed controllers are discontinuous
On the one hand, the system is very susceptible to various factors in the actual working environment, and there are often uncertainties in the parameters of the system, such as unknown mass of trolley, unknown mass of rotor, unknown component size, etc.
In this case, existing methods based on precise system models are not applicable
On the other hand, the discontinuity of the control quantity will cause chattering in the system, which will cause damage to the equipment

Method used

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  • Nonlinear coupled adaptive control method for multi-rotationally excited translational oscillator systems
  • Nonlinear coupled adaptive control method for multi-rotationally excited translational oscillator systems
  • Nonlinear coupled adaptive control method for multi-rotationally excited translational oscillator systems

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Experimental program
Comparison scheme
Effect test

Embodiment 1

[0116] 1. Description of experimental steps

[0117] Section 1.1. Determining control objectives

[0118] The position vector of each TORA selected is The target position vector is where, for the i-th TORA in a multi-TORA system, x i is the displacement of the trolley, is the trolley speed, θ i is the rotor rotation angle, is the rotational angular velocity of the rotor, θ di is the target angle of the rotor, and the total number of single TORAs in the system is N, then i=1,2,...,N.

[0119] Section 1.2, define error signal, parameter vector and measurable vector

[0120] Define the rotor swing angle error e of each TORA in a multi-TORA system θi (t) for

[0121] e θi = θ di -θ i (4)

[0122] Among them, θ i is the rotor rotation angle, θ di is the target angle of the rotor. define unknown parameter vector measurable vector Among them, the symbol " "Represents the matrix / vector transpose, the element ω in the vector i1 ,ω i2 ,ω i3 ,y i1 ,y i2 ,y...

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Abstract

The invention provides a multiple-TORA (translational oscillator with rotational actuator) system non-linear coupling adaptive control method and belongs to the technical field of automatic control of underactuated mechanical systems. The method is characterized in that, with unknown parameters and uncertainty factors existing in a system being taken into consideration, a coupling term is introduced to construct a novel energy storage function, and the nonlinear coupling adaptive control method is designed, thereby enhancing transient performance of the system; the method realizes stabilization control of a multiple-TORA (translational oscillator with rotational actuator) system, and can enable the multiple-TORA system to return to a balanced position quickly and accurately and keep stable when given an initial position or influenced; and meanwhile, an update law can carry out online compensation on the influence of the unknown parameters and the uncertainty factors on the system. Experiment results show that the method has good control performance.

Description

technical field [0001] The invention belongs to the technical field of automatic control of underactuated mechanical systems, and in particular relates to a nonlinear coupling adaptive control applicable to an underactuated multi-rotational excitation translational oscillator (Translational Oscillator with Rotational Actuator, TORA) system with unknown system parameters and external interference method. For the sake of brevity, the rotation-excited-translational oscillator will be referred to as TORA hereinafter. Background technique [0002] Nowadays, the research on underactuated systems has attracted extensive attention of many scholars at home and abroad. [1],[2] . Underactuated systems have many advantages, such as high flexibility, low energy consumption, low cost, simple mechanical structure, etc., which make them widely used in electromechanical systems. However, the control dimension of the underactuated system is less than the number of degrees of freedom to be ...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): G05B13/04
CPCG05B13/042
Inventor 孙宁吴易鸣方勇纯陈鹤
Owner NANKAI UNIV
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