针对欠驱动旋转激励平移振荡器(translational oscillations with a rotational actuator，TORA)系统的控制问题，使用一种自耦PID(self-coupling proportional-integral-differential，SCPID)控制方法。该方法首先利用坐标变换使TORA系统的质心映射为Huygens振动中心，以实现新系统控制输入解耦，避免零动态不稳定问题;然后对Huygens振动中心设计平移位置的SCPID控制器，同时获得小球偏转角度的虚拟指令，进而设计小球偏转角度的SCPID控制器，从而实现TORA系统的平衡点跟踪控制;最后在复频域对闭环控制系统的稳定性进行严格的数学分析和证明。仿真及与其他方法的结果对比表明，所设计的控制算法简单高效，在欠驱动控制系统领域具有实际的应用价值。
Research on a self-coupling PID control strategy for an underactuated TORA system
Aiming at the control problems of translational oscillations with a kind of rotational actuator(TORA)system,a self-coupling proportional-integral-differential(SCPID)control method is used.Firstly,the centroid of the TORA system is mapped to the vibration center of Huygens by coordinate transformation,so that the control input of the new system is decoupled and zero dynamic instability is avoided.Then the SCPID controller for the translation position is designed with the Huygens vibration center,the virtual command of the ball deflection angle is obtained at the same time,and the SCPID controller of the ball deflection angle is designed,so as to realize the equilibrium point tracking control of the TORA system.Finally,the stability of the closed-loop control system is analyzed and proved strictly in complex frequency domain.Simulation results and comparison with other methods show that the control algorithm designed is simple and efficient,and has practical application value in the field of underactuated control system.
underactuated TORA systemcoordinate transformationHuygens vibration centerself-coupling PID controlrobust stability
万方数据
维普
