|本期目录/Table of Contents|

[1]刘传德,高丙团,郑功倍,等. 欠驱动 TORA 振荡轨迹跟踪的模糊控制设计[J].电机与控制学报,2018,22(05):117-122.[doi:10.15938/j.emc.2018.05.015]
 LIU Chuan-de,GAO Bing-tuan,ZHENG Gong-bei,et al. Fuzzy control design of oscillating trajectory tracking forunderactuated TORA[J].,2018,22(05):117-122.[doi:10.15938/j.emc.2018.05.015]
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 欠驱动 TORA 振荡轨迹跟踪的模糊控制设计(PDF)
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《电机与控制学报》[ISSN:1007-449X/CN:23-1 408/TM]

卷:
22
期数:
2018年05
页码:
117-122
栏目:
出版日期:
2018-05-15

文章信息/Info

Title:
 Fuzzy control design of oscillating trajectory tracking forunderactuated TORA
作者:
 刘传德1 高丙团1 郑功倍1 孙国兵2
 (1. 东南大学 电气工程学院,江苏 南京 210096; 2. 黑龙江大学 电子工程学院,黑龙江 哈尔滨 150080)
Author(s):
   LIU Chuan-de1 GAO Bing-tuan1 ZHENG Gong-bei1 SUN Guo-bing2
  (1. School of Electrical Engineering,Southeast University,Nanjing 210096,China;2. Electronic Engineering College,Heilongjiang University,Harbin 150080,China)
关键词:
欠驱动 旋转激励平移振荡器 模糊控制 轨迹跟踪
Keywords:
 underactuated translational oscillators with rotating actuator fuzzy control trajectory track-ing
分类号:
TP273
DOI:
10.15938/j.emc.2018.05.015
文献标志码:
A
摘要:
 欠驱动 TORA( Translational oscillators with rotating actuator) 传统控制目标是实现平衡点的稳定控制。针对系统的周期性振荡轨迹,研究实用的轨迹跟踪控制方案。通过分析 TORA 系统的动力学,得到平移小车的自然振荡周期,在此基础之上设计一种平移小车周期运动和旋转小球保持定值的动态轨迹。为实现系统动态轨迹的跟踪控制,基于系统状态变量的轨迹跟踪误差设计模糊控制系统; 通过设计融合函数合并系统状态变量,将模糊控制器的输入数由 4 减少到 2,再设计模糊控制规则,得到易于实现的模糊控制器。最后,仿真和实验结果验证了所提控制方案的有效性与实用性。
Abstract:
 Conventional research work on underactuated TORA ( Translational oscillator with rotationalactuator) system mainly focused on stabilizing control of equilibrium points. A practical trajectory track-ing control design scheme was proposed to steer periodic oscillating trajectories of TORA system. Basedon the dynamics of TORA,the natural period of translational oscillation cart was derived,and then the dy-namic periodic orbits were followed,namely,the translational oscillation cart oscillating periodically whilethe rotational proof mass being stabilized at the fixed angle. To track the designed trajectory successfully,tracking errors of system’s state variables were employed as the inputs of fuzzy control system. And a fu-sion function was applied for inputting tracking errors such that the input number of the fuzzy controllerdecreases from 4 to 2. Consequently,the corresponding fuzzy rules were established and a practical fuzzycontroller was achieved. Finally,
simulation results and experimental results validate efficiency and practi-cability of the proposed control scheme.

参考文献/References:

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相似文献/References:

[1]高丙团,孙国兵.TORA转子位置反馈的稳定控制方法[J].电机与控制学报,2010,(08):58.
 GAO Bing-tuan,SUN Guo-bing.Stabilization control method with rotor anglefeedback for TORA system[J].,2010,(05):58.

备注/Memo

备注/Memo:
 收稿日期: 2017 - 01 - 12
基金项目: 国家自然科学基金( 11102039) ; 江苏省“六大人才高峰”第十一批高层次人才资助计划( 2014 - ZBZZ - 001) ; 东南大学优秀青年教师科研资助计划( 2242015R30024)
作者简介: 刘传德( 1989—) ,男,博士研究生,研究方向为欠驱动系统建模与控制;
高丙团( 1981—) ,男,博士,教授,博士生导师,研究方向为系统的建模与控制、机器人与自动化、新能源发电与电力需求侧管理等;
郑功倍( 1990—) ,男,硕士研究生,研究方向为欠驱动系统建模与控制;
孙国兵( 1979—) ,男,博士,副教授,研究方向为系统仿真与控制技术、飞行器动力学等。
更新日期/Last Update: 2018-07-02