一类欠驱动系统的分层递阶滑模控制方法的研究
文献类型：学位论文
| 作者 | 钱殿伟 |
| 学位类别 | 工学博士 |
| 答辩日期 | 2008-05-29 |
| 授予单位 | 中国科学院研究生院 |
| 授予地点 | 中国科学院自动化研究所 |
| 导师 | 易建强 |
| 关键词 | 变结构控制 欠驱动系统 分层递阶 Variable Structure Control Under-actuated Systems Hierarchy |
| 其他题名 | Research on Hierarchical Sliding Mode Control for a Class of Under-Actuated Systems |
| 学位专业 | 控制理论与控制工程 |
| 中文摘要 | 欠驱动系统是指系统的独立控制变量个数小于系统自由度个数的一类非线性系统。它在教学、科研以及工程中具有非常广泛的应用，因此对它的研究具有重要的理论意义和实用价值。同时欠驱动系统通常具有前馈非线性、非最小相位零动态或非完整约束等特性，这使得欠驱动系统的控制具有较大的难度。滑模控制是一种具有强鲁棒性的变结构控制方法，具有响应迅速以及对系统参数变化和外部扰动具有不变性的特点。因此，可以考虑采用滑模方法解决欠驱动系统的控制问题。本文以欠驱动系统为研究对象，结合国家自然科学基金面上项目 “一类欠驱动系统的分层递阶滑模控制方法研究”，展开滑模控制在欠驱动系统控制中的应用研究。所完成的工作主要包括以下七个方面： 首先，系统回顾了欠驱动系统的研究现状以及变结构理论的产生与发展历程，分析了欠驱动系统的滑模控制存在的问题，提出了本文的研究目的。 第二，利用拉格朗日动力学方法建立了欠驱动系统的动力学模型，给出了本文所研究的一类欠驱动系统的状态方程标准模型。 第三，提出了一种基于分层递阶结构的滑模控制方法，并给出了设计步骤和参数选择原则，同时从理论上分析了各层滑动平面的稳定性，并且通过三个典型的欠驱动系统验证了所设计控制器的有效性。 第四，针对系统中可能存在非匹配扰动的问题，提出了一种基于分层递阶滑模的鲁棒控制方法，在最后一层滑动平面设计了滑模补偿器以补偿非匹配对系统稳定性的影响，并且从理论上分析了各层滑动平面的稳定性。 第五，提出了控制受限条件下的基于分层递阶结构的滑模控制器设计方法，运用非线性小增益定理分析了控制系统的稳定性，从而使所设计的控制系统更具实际应用价值，并通过仿真研究和实物实验验证了控制方法的有效性。 第六，设计了一种基于聚合式结构的双层滑模控制器，给出了具有多个子系统的聚合式滑模控制器子系统滑动平面稳定的充分条件。 最后，总结本文研究成果，展望今后的研究方向。 |
| 英文摘要 | Under-actuated systems are characterized by the fact that they have fewer actuators than the degrees-of-freedom (DOF) to be controlled. They are rich in applications, such as education, researches, and engineering, which make them valuable in both theory and applications. On the other hand, their dynamics may contain some properties, such as feedforward nonlinearities, non-minimum phase zero dynamics, non-holonomic constraints, which make their control design difficult. Sliding mode control (SMC) is a robust variable structural control method, which is invariant to systemic parameters and external disturbances. Therefore, it is desired to use SMC to implement the control of under-actuated systems. In this dissertation, the sliding mode control of a class of under-actuated systems is studied under the support of the NSFC Project of China “Researches of Hierarchical Sliding Mode Control for a Class of Uner-Actuated Systems”. The content of the research includes the following seven parts: 1.A detailed comment on the present development of under-actuated systems and variable structure control is given. The problems of the sliding mode control of under-actuated mechanical systems are analysed. Then, the objective of this dissertation is proposed. 2.Based on Lagrgange mechanics, the mathematical model of a class of under-actuated systems is established. A normal state equation model of the class is deduced. 3.A sliding mode control approach based on hierarchical structure is proposed. The design steps and the principle of choosing parameters are given. In order to guarantee the system’s stability, two determinant theorems are presented to prove all sliding mode surfaces are asymptotically stable. 4.A robust control method based on the hierarchical sliding surfaces is proposed. By considering the mismatched uncertainties of the class, a sliding mode compensator is designed at the last layer slidng surface. The stabilities of all sliding mode surfaces are analyzed, and the sufficient condition of the stability is given. 5.A method based on the hierarchical sliding surfaces is present for the control systems with input saturation. By using nonlinear small gain theorem, the system stability is analyzed, which makes the present control method more practical. Further, physical and smulation experiments show the feasibility of the method. 6.Based on aggregated structure, a two-layer sliding mode controller is designed. The sufficient condition of the stability of the subsystem sliding surfaces is also given. 7.The main conclusions are summarized and the possible avenues of further issues about the sliding mode control & under-actuated systems are addressed. |
| 语种 | 中文 |
| 其他标识符 | 200518014628027 |
| 源URL | [http://ir.ia.ac.cn/handle/173211/6090]  |
| 专题 | 毕业生_博士学位论文 |
| 推荐引用方式 GB/T 7714 | 钱殿伟. 一类欠驱动系统的分层递阶滑模控制方法的研究[D]. 中国科学院自动化研究所. 中国科学院研究生院. 2008. |
入库方式： OAI收割
来源：自动化研究所
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