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基于移动质心滚动控制方案,研究了其动力学系统建模和非线性耦合系统控制的问题。不同于移动质心控制系统建模中常用的牛顿力学建模和常规拉格朗日建模法,采用准坐标形式的拉格朗日法建立了完整的系统动力学方程,避免了牛顿力学中复杂的相互作用力分析和常规拉格朗日建模法物理意义不明确的缺点。鉴于移动质心滚动控制系统的非线性、耦合性和时变性,提出把系统的非线性耦合项和外部干扰统归为未知扰动,并采用自抗扰控制(ADRC)技术进行估计和补偿,相对于常用的比例微分(PD)控制,自抗扰控制器能更好地适应系统参数的变化,具有很强的鲁棒性。最后,通过数学仿真验证了整个控制方案的可行性。
Based on the moving centroid rolling control scheme, the dynamics system modeling and the nonlinear coupled system control problem are studied. Different from the Newton mechanics modeling and the conventional Lagrange modeling, which are commonly used in the modeling of mobile centroid control system, a complete system dynamics equation is established by the Lagrange method in quasi-coordinate form, which avoids the complexity of Newtonian mechanics The analysis of the interaction force and the disadvantage of the physical meaning of the conventional Lagrange modeling are not clear. In view of the nonlinearity, coupling and time-varying of the moving centroid rolling control system, it is proposed that the nonlinear coupling term and the external disturbance of the system are classified as unknown disturbances, and the ADRC technique is used to estimate and compensate. Common proportional-derivative (PD) control, ADRC controller can better adapt to changes in system parameters, with strong robustness. Finally, the feasibility of the whole control scheme is verified through mathematical simulation.