控制工程
控製工程
공제공정
CONTROL ENGINEERING OF CHINA
2010年
1期
98-101
,共4页
欠驱动系统%两关节平面机械手%可积性%稳定性%可控性
欠驅動繫統%兩關節平麵機械手%可積性%穩定性%可控性
흠구동계통%량관절평면궤계수%가적성%은정성%가공성
underactuated systems%planar 2R manipulator%integrability%stability%controllability
欠驱动平面机械手是带有非完整约束的高度非线性系统,对其进行有效的控制仍然是个难点热点问题针对最具代表性的两关节情形,给出了欠驱动两关节平面机械手的动力学方程,据此分析了该系统的可积性、线性化、稳定性、可控性和可反馈镇定性.根据控制目标的不同,将控制任务分为镇定到流形、镇定到单个平衡点和跟踪时变信号3种.针对这3种控制任务,分别回顾了各种已有的控制方式,仔细分析了它们的优点和有待改进的地方.最后探索了欠驱动平面机械手的研究中需要解决的几个关键问题,指出未来的可能研究方向.
欠驅動平麵機械手是帶有非完整約束的高度非線性繫統,對其進行有效的控製仍然是箇難點熱點問題針對最具代錶性的兩關節情形,給齣瞭欠驅動兩關節平麵機械手的動力學方程,據此分析瞭該繫統的可積性、線性化、穩定性、可控性和可反饋鎮定性.根據控製目標的不同,將控製任務分為鎮定到流形、鎮定到單箇平衡點和跟蹤時變信號3種.針對這3種控製任務,分彆迴顧瞭各種已有的控製方式,仔細分析瞭它們的優點和有待改進的地方.最後探索瞭欠驅動平麵機械手的研究中需要解決的幾箇關鍵問題,指齣未來的可能研究方嚮.
흠구동평면궤계수시대유비완정약속적고도비선성계통,대기진행유효적공제잉연시개난점열점문제침대최구대표성적량관절정형,급출료흠구동량관절평면궤계수적동역학방정,거차분석료해계통적가적성、선성화、은정성、가공성화가반궤진정성.근거공제목표적불동,장공제임무분위진정도류형、진정도단개평형점화근종시변신호3충.침대저3충공제임무,분별회고료각충이유적공제방식,자세분석료타문적우점화유대개진적지방.최후탐색료흠구동평면궤계수적연구중수요해결적궤개관건문제,지출미래적가능연구방향.
The control problem of the underactuated planar manipulator with high nonlinearity and nonholonomy are introduced.The dynamical model of the typical case with two joints is presented.The integrability,liuearization,stability,controllability and feedback stabilization of the model are analyzed.According to the control objectives,the control task is derided into three types:stabilizing to the manifold,stabilizaing to a single equilibrium and tracking the time-variant signals.Control schemes of these tasks are reviewed,and the advantages and the disadvantages of these schemes are analyzed.Finally,some key problems for control of underactuated planar manipulators are proposed,and the further possible research directions are pointed out.
