CAJ | 학술논문

研究了基于绳牵引并联机构的新型波浪补偿系统的鲁棒控制方法。将环境作用力和不可测参数从动力学方程中分离出来，看作系统干扰，然后根据李亚普诺夫稳定性理论推导了控制律。针对绳索冗余的情况，提出了一种基于交互投影的绳索张力分布算法。当存在张力分布的可行解时，该算法能够得到远离张力限制边缘的“安全”最优解；当不存在可行解时，该算法能够得到满足张力限制条件的最佳近似解。为了提高鲁棒控制的实用性，还研究了负载惯性参数辨识方法。仿真结果表明，以上理论与方法对于波浪补偿系统是非常有效的。
연구료기우승견인병련궤구적신형파랑보상계통적로봉공제방법。장배경작용력화불가측삼수종동역학방정중분리출래，간작계통간우，연후근거리아보낙부은정성이론추도료공제률。침대승색용여적정황，제출료일충기우교호투영적승색장력분포산법。당존재장력분포적가행해시，해산법능구득도원리장력한제변연적“안전”최우해；당불존재가행해시，해산법능구득도만족장력한제조건적최가근사해。위료제고로봉공제적실용성，환연구료부재관성삼수변식방법。방진결과표명，이상이론여방법대우파랑보상계통시비상유효적。
A robust control method for new type wave compensation systems that based on cable-driven parallel mechanisms were presented. The environmental forces and immeasurable parameters were separated from the dynamic equations and treated as disturbances.Then a sliding mode control law was derived using Lyapunov stability theory.For redundant mechanisms,a tension distribution algorithm based on alternating projection was proposed.When feasible solutions exist,this algorithm leads to a "safe"optimum solution that is kept away from all the boundaries of the tension constraints.Even if no feasible solution exists,a best approximate solution will be got which satisfies the tension constraints.An identification method was also proposed to enhance the practicability of the robust control method.Simulation results show that the proposed theories and methods are effective for such wave compensation systems.