阿克罗机器人的非线性向下摆动控制:分析和最佳增益设计
Xin Xin1, Yannian Liu2, Shinsaku Izumi3
1Faculty of Computer Science and Systems Engineering, Okayama Prefectural University, 111 Kuboki, Soja, Okayama 719-1197, Japan.
ISA transactions
|July 7, 2023
概括
这项研究为Acrobot机器人引入了一个新的正弦导数 (SD) 控制器,可以从各种初始状态快速稳定. SD控制器被证明比Acrobot向下摆动控制的衍生 (D) 控制器更有效.
科学领域:
- 机器人技术 机器人技术 机器人技术
- 控制理论 控制理论
- 机械工程 机械工程
背景情况:
- "阿克罗机器人" (Acrobot) 是一个双链平面机器人,有一个单一的驱动关节,在稳定其向下平衡方面存在挑战.
- 控制Acrobot需要解决其非线性动态,并从不同的初始条件实现快速稳定.
研究的目的:
- 开发和分析一款用于Acrobot向下摆动控制的新型正弦导数 (SD) 控制器.
- 为了确保Acrobot在几乎所有初始状态下下方平衡点的快速稳定.
主要方法:
- 一个正弦导数 (SD) 控制器的设计,使用触动关节的角度 (正弦函数) 和角速度的线性反.
- 分析确定最佳控制收益,最大限度地减少主导闭环极的真实部分.
- 在没有摩擦和有限的传感器测量条件下进行稳定性分析 (触动关节角度和角速度).
主要成果:
- SD控制器在正弦值增益超过负常数,导数增益为正数时实现了向下摆动控制目标.
- 通过分析得出最佳控制收益,优化闭环系统的稳定性.
- 闭环极可以根据Acrobot的物理参数显示各种配置 (双复合联,四重实数或三重实数).
结论:
- 拟议的正弦导数 (SD) 控制器有效地稳定了Acrobot在向下的平衡状态.
- 模拟证实了SD控制器在稳定速度方面比传统衍生 (D) 控制器的性能优越.
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