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[1]黄自鑫,秦翔宇,王乐君.二阶非完整平面欠驱动机械系统的位置控制[J].武汉工程大学学报,2021,43(05):567-572.[doi:10.19843/j.cnki.CN42-1779/TQ.202010001]
　HUANG Zixin,QIN Xiangyu,WANG Lejun.Position Control of Second-Order Nonholonomic Planar Underactuated Mechanical System[J].Journal of Wuhan Institute of Technology,2021,43(05):567-572.[doi:10.19843/j.cnki.CN42-1779/TQ.202010001]
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《武汉工程大学学报》[ISSN:1674-2869/CN:42-1779/TQ]

卷:
43
期数:
2021年05期
页码:
567-572
栏目:
机电与信息工程
出版日期:
2021-10-31

文章信息/Info

Title:
Position Control of Second-Order Nonholonomic Planar Underactuated Mechanical System
文章编号:
1674 - 2869（2021）05 - 0567 - 06
作者:
黄自鑫1; 秦翔宇1; 王乐君2
1. 武汉工程大学电气信息学院，湖北 武汉 430205；2. 中国地质大学（武汉）自动化学院，湖北 武汉 430074
Author(s):
HUANG Zixin1; QIN Xiangyu1; WANG Lejun2
1. School of Electrical and Information Engineering, Wuhan Institute of Technology, Wuhan 430205, China；2. School of Automation, China University of Geosciences, Wuhan 430074, China
关键词:
欠驱动系统; 模型降阶; 分段控制; 位置控制; 粒子群优化算法
Keywords:
underactuated system; model reduction;  piecewise control;  position control;  particle swarm optimization
分类号:
TP273
DOI:
10.19843/j.cnki.CN42-1779/TQ.202010001
文献标志码:
A
摘要:
针对中间关节为欠驱动的二阶非完整平面三连杆机械系统提出一种基于模型降阶的分段控制策略。首先，控制欠驱动关节到达目标位置，并控制第三连杆角度和角速度为零，将系统降阶为平面虚拟Pendubot系统；其次，依据平面Pendubot系统的幂零近似特性，设计一个周期开环迭代镇定控制器，使平面虚拟Pendubot系统两连杆的角速度都收敛为零的同时，欠驱动关节又回到目标位置，从而使平面三连杆系统降阶为初始速度为零的平面虚拟Acrobot系统。然后，根据平面虚拟Acrobot系统的运动状态约束关系，利用在线粒子群优化算法求取两连杆的目标角度；接着，针对第三连杆设计控制器实现平面虚拟Acrobot系统的控制目标，从而实现整个系统的控制目标，仿真结果验证所提出控制策略的有效性。
Abstract:
This paper presents a control strategy based on model reduction for a second-order nonholonomic planar three-link underactuated mechanical system with passive middle joints. Firstly, the system was reduced to a planar virtual Pendubot by moving the underactuated joint to the target position. Additionally, the angle and angular velocity of third joint lever were tuned to zero. Next, according to the nilpotent approximation property of the planar virtual Pendubot, an open-loop iterative stabilization controller was designed, which is able to make the angular velocity of the planar virtual Pendubot’s joint levers converge to zero. Furthermore, the controller drove the underactuated joints to target positions. As a result, a planar three-link underactuated mechanical system was reduced to a planar virtual Acrobot system. Then, according to constraints of motion states of the Acrobot system, the target angles of two joint levels were calculated by the online particle swarm optimization algorithm. Finally, the controllers of the third joint levels were designed to achieve the controlling goal of the planar virtual Acrobot system as well as the whole system. Simulation results demonstrate the validity of the proposed control method.

参考文献/References:

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备注/Memo

备注/Memo:
收稿日期：2020-10-02基金项目：国家自然科学基金（61773353）作者简介：黄自鑫，博士，讲师。E-mail：huangzx@wit.edu.cn引文格式：黄自鑫， 秦翔宇， 王乐君. 二阶非完整平面欠驱动机械系统的位置控制［J］. 武汉工程大学学报，2021，43（5）：567-572.
更新日期/Last Update: 2021-10-27