CAJ | 학술논문

旋转激励平移振荡器( TORA)由一维平移小车和安装在其上的转子组成，是非线性控制设计的基准系统之一。该文针对小车具有二维平移运动的TORA(2DTORA)系统，设计其滑模控制器。将系统动力学在平衡点附近线性化并转换为能控标准型，设计包含系统所有状态的线性滑模面，采用指数趋近率使系统趋近于滑模面，保证了系统各状态变量达到期望值；并基于极点配置的方法得到滑模面的各项系数。通过对系统在多个平衡点求线性化模型和计算滑模面，得到滑模面的T-S模糊模型，保证了系统在各平衡点都能实现稳定控制。仿真实验验证了控制方法的可行性和有效性。
선전격려평이진탕기( TORA)유일유평이소차화안장재기상적전자조성，시비선성공제설계적기준계통지일。해문침대소차구유이유평이운동적TORA(2DTORA)계통，설계기활모공제기。장계통동역학재평형점부근선성화병전환위능공표준형，설계포함계통소유상태적선성활모면，채용지수추근솔사계통추근우활모면，보증료계통각상태변량체도기망치；병기우겁점배치적방법득도활모면적각항계수。통과대계통재다개평형점구선성화모형화계산활모면，득도활모면적T-S모호모형，보증료계통재각평형점도능실현은정공제。방진실험험증료공제방법적가행성화유효성。
The translational oscillator with the rotational actuator ( TORA ) is consisted of a translational cart and a rotor, and it is a benchmark nonlinear system for the control design. The sliding mode control is designed for the 2-dimensional translational oscillator with a rotational actuator(2DTORA)system to expand the cart's motion of TORA system to 2-dimension. The system dynamics is linearized around an equilibrium, and the linearized model is transformed into the controllable form. A linear sliding mode surface including all state variables is designed. Based on exponential approach law,the control input is derived and then each state variable can be guaranteed to reach the expected value. The pole assignment method is employed to calculate the parameters of the sliding mode surface. To realize stable control of other equilibriums of 2DTORA,its dynamics is linearized at different equilibriums to get the T-S fuzzy model of the sliding mode surface. Consequently,the control input stabilizing different equilibriums is achieved. Simulation results show the feasibility and effectiveness of the proposed control design.