[1]毕玉春,高丙团,包宇庆.二维旋转激励平移振荡器滑模控制设计[J].南京理工大学学报(自然科学版),2014,38(02):222-227.
 Bi Yuchun,Gao Bingtuan,Bao Yuqing.Slidng mode control design for 2-dimensional translational oscillator with rotational actuator[J].Journal of Nanjing University of Science and Technology,2014,38(02):222-227.
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二维旋转激励平移振荡器滑模控制设计
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《南京理工大学学报》(自然科学版)[ISSN:1005-9830/CN:32-1397/N]

卷:
38卷
期数:
2014年02期
页码:
222-227
栏目:
出版日期:
2014-04-30

文章信息/Info

Title:
Slidng mode control design for 2-dimensional translational oscillator with rotational actuator
作者:
毕玉春1高丙团2包宇庆2
1.江苏理工学院 电气信息工程学院,江苏 常州 213001; 2.东南大学 电气工程学院,江苏 南京 210096
Author(s):
Bi Yuchun1Gao Bingtuan2Bao Yuqing2
1.School of Electrical and Information Engineering,Jiangsu University of Technology,Changzhou 213001,China; 2.School of Electrical Engineering,Southeast University,Nanjing 210096,China
关键词:
二维旋转激励平移振荡器 滑模控制 极点配置
Keywords:
2-dimensional translational oscillators with rotational actuators sliding mode control pole assignment
分类号:
TP273
摘要:
旋转激励平移振荡器(TORA)由一维平移小车和安装在其上的转子组成,是非线性控制设计的基准系统之一。该文针对小车具有二维平移运动的TORA(2DTORA)系统,设计其滑模控制器。将系统动力学在平衡点附近线性化并转换为能控标准型,设计包含系统所有状态的线性滑模面,采用指数趋近率使系统趋近于滑模面,保证了系统各状态变量达到期望值; 并基于极点配置的方法得到滑模面的各项系数。通过对系统在多个平衡点求线性化模型和计算滑模面,得到滑模面的T-S模糊模型,保证了系统在各平衡点都能实现稳定控制。仿真实验验证了控制方法的可行性和有效性。
Abstract:
The translational oscillator with the rotational actuator(TORA)is consisted of a translational cart and a rotor,and it is a benchmark nonlinear system for the control design.The sliding mode control is designed for the 2-dimensional translational oscillator with a rotational actuator(2DTORA)system to expand the cart's motion of TORA system to 2-dimension.The system dynamics is linearized around an equilibrium,and the linearized model is transformed into the controllable form.A linear sliding mode surface including all state variables is designed.Based on exponential approach law,the control input is derived and then each state variable can be guaranteed to reach the expected value.The pole assignment method is employed to calculate the parameters of the sliding mode surface.To realize stable control of other equilibriums of 2DTORA,its dynamics is linearized at different equilibriums to get the T-S fuzzy model of the sliding mode surface.Consequently,the control input stabilizing different equilibriums is achieved.Simulation results show the feasibility and effectiveness of the proposed control design.

参考文献/References:

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备注/Memo

备注/Memo:
收稿日期:2012-12-20 修回日期:2013-04-23
基金项目:国家自然科学基金(11102039); 教育部博士点基金新教师类(20100092120045)
作者简介:毕玉春(1978-),女,硕士,讲师,主要研究方向:欠驱动系统的控制设计,E-mail:zhanghb2002@sina.com; 通讯作者:高丙团(1981-),男,博士,副教授,主要研究方向:欠驱动系统、机器人等,E-mail:gaobingtuan@seu.edu.cn。
引文格式:毕玉春,高丙团,包宇庆.二维旋转激励平移振荡器滑模控制设计[J].南京理工大学学报,2014,38(2):222-227.
投稿网址:http://njlgdxxb.paperonce.org
更新日期/Last Update: 2014-04-30