论文摘要
目前同步控制方法仍然在不断发展和完善之中,多种控制理论方法都在同步控制系统设计中得到了应用。为保证跟踪性能和同步性能,往往需要巧妙地选取系统输出函数或巧妙地对系统状态进行变换。对不同的同步控制问题,选取和变换的方法不尽相同,需要具体问题具体分析。在许多实际系统中,特别是机电控制系统都可以用Lagrangian方法建立动力学方程。对于典型的Lagrangian系统而言可以寻找到具有一般意义的同步控制策略。因此在同步控制方法的研究工作中,也可以尽可能地追求其最广泛的应用价值。本文基于非线性系统反馈线性化方法得到了一类欠驱动Lagrangian系统的局部反馈精确线性化模型,并进一步应用小偏差线性化方法得到了此类系统的线性化模型。针对完全可控的线性化模型,设计了此类系统的一种线性二次型最优同步控制器。对由两部一级直线倒立摆装置组成的欠驱动Lagrangian同步运动系统,设计了其最优同步控制器。仿真及实验结果表明,所设计的最优同步控制器实现了倒立摆装置的稳定平衡和小车位置的精确跟踪,并且令两个装置间达成了同步运动。与主从式同步控制方法相比,此最优同步控制器具有更好的同步效果。当考虑摩擦力等实际存在的不确定性因素对同步运动系统的干扰时,本文设计了自适应最优同步控制器来补偿这些不确定性因素的干扰。仿真结果表明,所提出的自适应最优同步控制方法可以很好地补偿这些不确定性因素,从而提高系统的跟踪性能和同步性能。
论文目录
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