CN110347037A - The control mode construction method and device of under-actuated systems, storage medium and terminal - Google Patents
The control mode construction method and device of under-actuated systems, storage medium and terminal Download PDFInfo
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Abstract
The present invention provides the control mode construction method and device, storage medium and terminal of a kind of under-actuated systems, wherein method includes: to construct default former dynamic model of the under-actuated systems there are external disturbance, and former dynamic model is converted to by the first cascade model based on model conversion, the first cascade model includes the first subsystem and the second subsystem；Determine default control target of the under-actuated systems there are external disturbance；Sliding-mode control is constructed according to the first cascade model and the control target.The method of the present invention provides a kind of construction method of sliding formwork control mode in the case where there is uncertain external interference, so that the sliding formwork control mode of under-actuated systems can also have preferable control performance and robustness in the case where external disturbance.
Description
Technical field
The invention belongs to under-actuated systems automatic control technology fields, have related generally to a kind of controlling party of under-actuated systems
Formula construction method.
Background technique
Under-actuated systems refer to that control input dimension is less than a nonlinear systems of degree of freedom in system number, in various necks
Domain is widely used, such as the fields such as robot, space flight and aviation, ocean naval vessels and communications and transportation.Translation vibration with rotation excitation
Swing device (Translational oscillators with rotating actuator, abbreviation TORA, also known as RTAC) work
For the drive lacking baseline system of a quadravalence, composed structure includes that the translation not directly driven vibrates trolley and by motor
The bead of driving, because of its very strong non-linear and drive lacking characteristic, commonly used in the performance to some lower order nonlinear controllers
In the research of progress.
The common control method of drive lacking RTAC system has: first bound fraction feedback linearization and decoupling processing turn system
It is changed to cascade system, is then based on the control method that integral Backstepping designs system；Passivity based on RTAC system is to whole
A system design control method.In addition to this, defeated in the overall situation of RTAC system stable control, RTAC system based on energy
Tracking problem, the PD control problem of n-RTAC system, the Self-tuning System sliding formwork control of RTAC system, the RATC based on fuzzy control out
System trajectory tracking control problem, RTAC mission nonlinear control problem based on TP model conversion etc. etc. have scholar into
Further investigation is gone.
But existing major part control method all assumes that there is no external disturbances in control process, and in actual conditions
Under, external disturbance be can not ignore, and the external disturbances such as friction, external environment may influence the control performance of control method, be made
Ideal control effect is not achieved in it.Therefore, one consideration external interference of researching and designing and with good stability and robust
Property control method with practical with theory significance.
Summary of the invention
The technical problem to be solved by the present invention is to the building process of the common control method of existing under-actuated systems not
External interference factor is considered, so that the control method of building cannot reach ideal control effect.
In order to solve the above-mentioned technical problems, the present invention provides a kind of control mode construction method of under-actuated systems, packets
It includes:
Default former dynamic model of the under-actuated systems there are external disturbance is constructed, and will based on model conversion
The original dynamic model is converted to the first cascade model, and first cascade model includes the first subsystem and the second subsystem；
Determine control target of the default under-actuated systems there are external disturbance；
Sliding-mode control is constructed according to first cascade model and the control target.
Preferably, default former dynamic model of the under-actuated systems there are external disturbance is constructed, and is based on mould
The former dynamic model is converted to the first cascade model step by type conversion
Construct the former dynamic model of the default under-actuated systems there are external disturbance；
The former dynamic model is converted into non-dimensional model based on default auxiliary variable；
The non-dimensional model is converted into the first cascade model based on design variables.
Preferably, include: according to first cascade model and control target building sliding-mode control step
By setting control input and virtual controlling input, the second cascade model is converted by first cascade model,
Second cascade model includes third subsystem and four subsystems；
Sliding-mode surface expression formula is designed based on second cascade model, and sliding formwork control is designed according to the sliding-mode surface expression formula
Method processed.
Preferably, it is inputted by setting control input and virtual controlling, converts the second level for first cascade model
Joining model step includes:
It determines control input, and assumes corresponding virtual controlling input, so that first subsystem, which is in, stablizes shape
State；
Determine the deviation expression formula of the control input and virtual controlling input；
The second cascade is converted by first cascade model based on the deviation expression formula and the default auxiliary variable
Model.
Being preferably based on the second cascade model design sliding-mode surface expression formula includes:
Sliding-mode surface expression formula is designed based on the four subsystems in second cascade model, so that the described 4th
Subsystem is in stable state.
Preferably, further includes:
Stability analysis is carried out to the default under-actuated systems under sliding-mode control control.
Preferably, by emulation experiment in the sliding-mode control control under the default under-actuated systems into
Row stability analysis.
Preferably, the default under-actuated systems are drive lacking RTAC system.
In order to solve the above-mentioned technical problems, the present invention provides a kind of control mode construction device of under-actuated systems, packets
Include model construction and conversion module, control target determination module and sliding-mode control building module；
The model construction and conversion module, for constructing default under-actuated systems there are external disturbance
Former dynamic model, and the former dynamic model is converted to by the first cascade model, first cascade model based on model conversion
Including the first subsystem and the second subsystem；
The control target determination module, for determining the default under-actuated systems there are external disturbance
Control target；
The sliding-mode control constructs module, for being slided according to first cascade model and control target building
Mould control method.
In order to solve the above-mentioned technical problems, the present invention provides a kind of storage mediums, are stored thereon with computer program,
It is characterized in that, which realizes the control mode construction method of the under-actuated systems when being executed by processor.
In order to solve the above-mentioned technical problems, the present invention provides a kind of terminals, comprising: processor and memory, it is described
It is communicated to connect between memory and the processor；
The memory is used to execute the computer of the memory storage for storing computer program, the processor
Program, so that the terminal executes the control mode construction method of the under-actuated systems.
Compared with prior art, one or more embodiments in above scheme can have following advantage or beneficial to effect
Fruit:
It is uncertain extraneous dry having using the control mode construction method of under-actuated systems provided in an embodiment of the present invention
A kind of construction method of sliding formwork control mode is provided in the case where disturbing, so that the sliding formwork control mode of under-actuated systems is in outside
Also can have preferable control performance and robustness in the case where interference.
Further, present invention is generally directed to drive lacking RATC systems constructs in the control problem with external interference
Control method.The former dynamic model of drive lacking RTAC system is first specifically subjected to nondimensionalization processing, and carries out model to it and turns
It gets in return to the first cascade form；A subsystem based on deviation is then proposed in the first cascade form；Finally again based on inclined
The subsystem of difference proposes sliding-mode control.The method of the present invention ensure that whole system and each height by stringent mathematical analysis
The stability of system.In conclusion the control method that the present invention is mentioned can not only guarantee the stability of whole system, it is contemplated that
The problems such as external interference that existing control method does not account for, has practical significance, while compared to existing controlling party
Method, control method of the invention have preferable control performance and robustness.
Other features and advantages of the present invention will be illustrated in the following description, and partly becomes from specification
It is clear that understand through the implementation of the invention.The objectives and other advantages of the invention can be by wanting in specification, right
Specifically noted structure is sought in book and attached drawing to be achieved and obtained.
Detailed description of the invention
Attached drawing is used to provide further understanding of the present invention, and constitutes part of specification, with reality of the invention
It applies example and is used together to explain the present invention, be not construed as limiting the invention.In the accompanying drawings:
Fig. 1 shows the control mode construction method step schematic diagram of one under-actuated systems of the embodiment of the present invention；
Fig. 2 shows one drive lacking RTAC system model structure charts of the embodiment of the present invention；
Fig. 3 is shown in one l-G simulation test of the embodiment of the present invention as ε=0.1, the simulation result diagram of different primary condition；
Fig. 4 shows the simulation result diagram of different system parameter in one emulation experiment of the embodiment of the present invention；
Fig. 5 shows the sliding formwork control side proposed by the present invention that external interference is added in one emulation experiment of the embodiment of the present invention
The analogous diagram of method；
Fig. 6 shows the analogous diagram that the PD control method of identical external interference is added in emulation experiment；
Fig. 7 shows the control mode construction device structural schematic diagram of two under-actuated systems of the embodiment of the present invention；
Fig. 8 shows the structural schematic diagram of four terminal of the embodiment of the present invention.
Specific embodiment
Hereinafter, embodiments of the present invention will be described in detail with reference to the accompanying drawings and examples, how to apply to the present invention whereby
Technological means solves technical problem, and the realization process for reaching technical effect can fully understand and implement.It needs to illustrate
As long as not constituting conflict, each feature in each embodiment and each embodiment in the present invention can be combined with each other,
It is within the scope of the present invention to be formed by technical solution.
Under-actuated systems refer to that control input dimension is less than a nonlinear systems of degree of freedom in system number.Drive lacking
RTAC system is that the drive lacking baseline system an of quadravalence is commonly used in carrying out the performance of some lower order nonlinear controllers
In research.The common control method of existing under-actuated systems all assumes that there is no external disturbances in control process, and in reality
In the case of border, external disturbance be can not ignore, and the external disturbances such as friction, external environment may influence the controlling of control method
Can, make it that ideal control effect be not achieved.Therefore, one consideration external interference of researching and designing and it is with good stability and
The control method of robustness is with practical and theory significance.
Embodiment one
To solve the technical problems existing in the prior art, the embodiment of the invention provides a kind of controls of under-actuated systems
Mode construction method.
Fig. 1 shows the control mode construction method step schematic diagram of one under-actuated systems of the embodiment of the present invention；With reference to Fig. 1
Shown, the control mode construction method of under-actuated systems of the embodiment of the present invention includes the following steps.It should be noted that in order to right
The control mode construction method of under-actuated systems of the present invention is described in detail, the default under-actuated systems in the present embodiment with
It is illustrated for drive lacking RTAC system.
Step S101 constructs default former dynamic model of the under-actuated systems there are external disturbance, and is based on
Former dynamic model is converted to the first cascade model by model conversion, and the first cascade model includes the first subsystem and the second subsystem
System.
Specifically, when default under-actuated systems are drive lacking RTAC system, building is there are the feelings of external disturbance first
The former dynamic model of drive lacking RTAC system under condition.With reference to Fig. 2 shows one drive lacking RTAC system models of the embodiment of the present invention
Structure chart；Drive lacking RTAC system includes that the translation not directly driven an oscillation trolley and one are directly driven by a motor
Bead, wherein oscillation trolley left end connecting spring, the other end of spring are connected on stationary plane, oscillation trolley can be in the horizontal plane
One-dimensional translational motion is done, bead is set in trolley, is connect with trolley by straight line, and bead can be in horizontal plane under motor effect
Inside make rotating motion.The dynamic model of RTAC system can be indicated by following equation:
Wherein, the quality for vibrating trolley is M, and the coefficient of elasticity of spring is k；Pellet quality is m, radius of turn r, bead
Rotary inertia about mass center is J；x,Respectively represent horizontal displacement and speed that oscillation trolley deviates equilbrium position；With bead
It is counterclockwise positive direction, θ,Respectively represent angle, the angular speed of small ball denection equilbrium position；Respectively indicate vibration
Swing the acceleration of trolley and the angular acceleration of bead；N indicates the input torque being applied on bead；D indicates uncertain outside
Disturbance.
In practice, the upper bound of d may be expressed as:
Wherein,Indicate the upper bound of d.
Secondly, former dynamic model is converted to non-dimensional model based on default auxiliary variable.
Calculating and explanation after for convenience introduce default auxiliary variable as follows:
Wherein, ξ is that the translation oscillation trolley of nondimensionalization deviates the horizontal displacement of equalization point；T is the time, and τ is dimensionless
The time of change；The input torque of u expression nondimensionalization；The coupling of ε expression translational motion and rotary motion；dnIndicate nondimensionalization
External disturbance,Indicate dnThe upper bound.
Simultaneously for convenience of explanation, it enablesWherein,Indicate ξ about
The translation oscillation trolley of the first derivative of time, i.e. nondimensionalization deviates the speed of equalization point, symbol " T " representing matrix/vector
Transposition.
According to the above default auxiliary variable, nondimensionalization is carried out to original dynamic model (1) and (2) and handles to obtain following nothing
Dimensional model:
Wherein, 0 < ε < 1.
Finally, non-dimensional model is converted to the first cascade model based on design variables.
Introduce following design variables χ1、χ2、z1、z2And auxiliary variable v:
χ1=y1+εsin y3 (6a)
χ2=y2+εy4cos y3 (6b)
z1=y3 (6c)
z2=y4 (6d)
It is then coordinately transformed, obtains following first cascade model:
Wherein, (7a) and (7b) is the first subsystem of the first cascade model, and (7c) and (7d) is the first cascade model
Second subsystem.
Step S102 determines default control target of the under-actuated systems there are external disturbance.
Specifically, be the purpose of the present embodiment propose a kind of sliding-mode control for drive lacking RTAC system, therefore
There are in the case where external disturbance, oscillation trolley is indirectly controlled by motor direct-drive bead, so that bead and oscillation are small
Vehicle simultaneously stablize in equilbrium position, further i.e. so that
Symbol " T " representing matrix/vector transposition.
Step S103 constructs sliding-mode control according to the first cascade model and control target.
Firstly, the second cascade model is converted for the first cascade model by setting control input and virtual controlling input,
Second cascade model includes third subsystem and four subsystems.
Specifically, it is determined that control input, and assume a corresponding virtual controlling input, so that the first subsystem is in
Stable state；The deviation expression formula of control input and virtual controlling input is determined later；Based on deviation expression formula and default auxiliary
The first cascade model is converted the second cascade model by variable.Preferably, control input is one in design variables.More into one
Step ground, first by z1It is considered as the control input of (7b), it is assumed that a virtual controlling inputs z1dSo that (7a) and (7b) stablizes simultaneously,
Wherein:
z1d=-arctan (α χ2) (8)
Wherein, α ∈ R+It is positive control gain.According to Lyapunov stability theorem it is found that closed-loop system (7a) and (7b)
It is stable under Lyapunov meaning.
Specific closed-loop system (7a) and (7b) stabilization under Lyapunov meaning are described as follows:
Select Lyapunov function as follows:
Seek VχVirtual controlling is inputted into z about the derivative of time, and in the result1dExpression formula substitute z1Expression formula,
It obtains
Known by above formula,It is negative semidefinite, so closed-loop system (7a) and (7b) are stable under Lyapunov meaning.
Control input z1Z is inputted with desired value virtual controlling1dDeviation definition are as follows:
It is right respectively laterFirst derivative and second dervative is asked to obtain about the time:
Wherein,Respectively z1dFirst derivative and second dervative:
In conjunction with (6e), (11)-(13), the first cascade model (7) can be converted into the second cascade model below:
Wherein, (16a) and (16b) is the third subsystem of the second cascade model, and (16c) and (16d) is second level gang mould
The four subsystems of type；And
ρ2=1- ε2cos2z1 (18)
Because there is 0 < ε < 1, ρ2> 0.
Secondly, designing sliding-mode surface expression formula based on the second cascade model, and sliding formwork control is designed according to sliding-mode surface expression formula
Method.
Specifically, in order to stablize four subsystems (16c)-(16d), design sliding-mode surface expression formula is as follows:
Wherein, β ∈ R+It is positive control gain, first derivative of the s about the time are as follows:
According to formula (20), following sliding-mode control can be designed:
Wherein, κs∈R+It is positive control gain, and meets following formula:
Indicate dnThe upper bound,ρ1、ρ2It is defined respectively by (12), (15), (17) and (18).
Further stability analysis is carried out to drive lacking RTAC system, it was demonstrated that still owe in control method proposed by the present invention
Drive non-dimensional model (5) asymptotic convergence of RTAC system to equilbrium position, it may be assumed that
For the sliding-mode control of proposition, can the stability first to cascade system (16) analyze, thus equivalently
Prove non-dimensional model (5) in the stability of equilbrium position.
Prove four subsystems (16c)-(16d) stability of the second cascade model (16) below, construction
Lyapunov function is as follows:
To above formula about time derivation, and (22) and (21) are substituted into:
Wherein,Have:
From the above equation, we can see that s is intended to 0 when time t tends to infinitely great.It is available according to sliding-mode surface formula (19):
Therefore, it is known that four subsystems (16c)-(16d) is globally asymptotically stable about equalization point.
WhenWhen, third subsystem (16a)-(16b) the expression formula transformation of the second cascade model (16) are as follows:
In order to analyze the stability of (28a)-(28b), following Lyapunov function is selected:
First derivative about the time is asked to above formula:
So closed-loop system (28) is stable under the conditions of Lyapunov.
In order to complete to prove, maximum invariant set Γ is defined as Φ:
According to formula (31), obtain:
According to (8), (28a), (32), obtain:
In conjunction with (28b), can be obtained:
χ1=0 (34)
By analyzing above, maximum invariant set Γ includes unique equalization point [χ1 χ2]T=[0 0]T, according to LaSalle
Constant theorem[13], closed-loop system (8a) and (8b) Asymptotic Stability to equalization point.Based on the above analysis, closed-loop system (28a)-
(28b) is about equalization point asymptotically stable in the large.
Because third subsystem (16a)-(16b) right half part is continuous, local derviation is continuous and uniform bound, satisfaction are global
Lipschitz condition, third subsystem (16a)-(16b) is about equilbrium position asymptotically stable in the large, four subsystems subsystem
(16c)-(16d) about equilbrium position Existence of Global Stable, according to Sussmann H J and Kokotovic P V.The
peaking phenomenon and the global stabilization of nonlinear systems[J].《IEEE
Transactions on Automatic Control ", 1991,36 (4): the theorem 6.2 in 424-440, it is known that closed-loop system
(16) about equalization point asymptotically stable in the large, it may be assumed that
Such as drawn a conclusion in summary:
It completes to prove.
Specifically 6.2 related content of theorem includes:
H1:(A, B) it is that can control；
H2:f:Rn+v→RnBelong to C1；
H3:Asymptotic Stability is to equalization point zero point；
Theorem 6.2: for meeting H1, the system that H2, H3 are set up, if f (x, ξ) meets overall situation Lipschitz condition, then
There are a linear feedback u=F ξ, and system asymptotically stable in the large can be made to origin.
As an example, the embodiment of the present invention may also include step S104, in sliding formwork control side in step S104
The lower default under-actuated systems of method control carry out stability analysis, preset under-actuated systems if appropriate for constructed to determine
Sliding-mode control is controlled, if default under-actuated systems are stablized under the control of constructed sliding-mode control, table
Show that default under-actuated systems are suitble to be controlled with constructed sliding-mode control, is otherwise not suitable for.
In order to examine the control performance of control method proposed by the present invention, a column emulation experiment is carried out, emulation considers
The non-dimensional model established during for the first cascade model is constructed in the description of step S101, selection of control parameter α
=1.6, β=0.6, κs=2.8, in order to inspection institute respectively mention the superior function of control method and to different primary condition, not really
The robustness for determining parameter and external disturbance, realizes three groups of emulation testings, and simulation result is as follows.
1. the Simulation of stability of different primary condition
In order to analyze the proposed control method of the present invention in the control performance of different primary condition, three groups of differences have been selected respectively
Primary condition tested, wherein ε=0.2.
Condition 1:[y1(0) y2(0) y3(0) y4(0)]T=[0.8 00 0]T
Condition 2:[y1(0) y2(0) y3(0) y4(0)]T=[0.4 0 0-0.4]T
Condition 3:[y1(0) y2(0) y3(0) y4(0)]T=[- 0.4 00 0.4]T
Shown in this group of result such as attached drawing 3 (a)-(c), wherein Fig. 3 (a) indicates the trolley displacement of nondimensionalization, Fig. 3 (b) table
Show the bead angle of nondimensionalization, Fig. 3 (c) indicates the control input of nondimensionalization；The simulation curve of three above condition is distinguished
It is indicated with dotted line, dash line, solid line.Primary condition difference in the case where, control method proposed by the invention can make be
System state Asymptotic Stability illustrates the superior function of the proposed method of the present invention to equilbrium position.
2. the robustness of Uncertain parameter is tested
To test the robustness of method proposed by the invention in uncertain system parameter, selected primary condition is
[y1(0) y2(0) y3(0) y4(0)]T=[0.8 00 0]T
Selecting system parameter is respectively ε=0.1, ε=0.2, ε=0.3, and as a result such as attached drawing 4 (a)-(c) is shown, wherein Fig. 4
(a) the trolley displacement of nondimensionalization is indicated, Fig. 4 (b) indicates the bead angle of nondimensionalization, and Fig. 4 (c) indicates the control of nondimensionalization
System input；System parameter ε=0.1, ε=0.2, ε=0.3 curve indicated respectively with dotted line, dash line, solid line.By comparing
These results, which can be seen that uncertain system parameter, influences less the whole control of closed-loop system.
3. the robustness of pair external interference
Robustness of the sliding-mode control proposed in order to further illustrate the present invention under external interference.It will be proposed
Control method and PD control method compare research.The expression of PD control method is as follows:
upd=-kpy3-kdy4 (28)
Wherein, kp、kd∈R+Belong to control gain, the selection of PD control method parameter are as follows:
kp=9, kd=2.5 (29)
Primary condition is set to zero, and different external disturbances is added to RTAC system in control process: arriving at the time 1 second
At 1.01 seconds apply an amplitude be 1 impulse disturbances and within 25 seconds to 26 second time apply an amplitude be 1 it is random do
It disturbs.Shown in simulation result such as Fig. 5 (a)-(c) and Fig. 6 (a)-(c).Fig. 5, which is shown, utilizes sliding formwork control shown by the present invention
The diagram of the obtained simulation result of method；Wherein, Fig. 5 (a) indicates the trolley displacement of the nondimensionalization under the conditions of, Fig. 5 (b) table
Show the bead angle of the nondimensionalization under the conditions of, Fig. 5 (c) indicates the control input of the nondimensionalization under the conditions of；Fig. 6 shows benefit
With the diagram of the obtained simulation result of PD control method, wherein Fig. 6 (a) indicates the trolley displacement of the nondimensionalization under the conditions of,
Fig. 6 (b) indicates the bead angle of the nondimensionalization under the conditions of, and Fig. 6 (c) indicates the control input of the nondimensionalization under the conditions of.By
It is found that under method proposed by the present invention control, added external disturbance has obtained quick inhibition and has disappeared Fig. 5 (a)-(c)
It removes；By Fig. 6 (a)-(c) it is found that under the control of PD control method, vibrating the displacement of trolley, there are still residual oscillations.
It is uncertain extraneous dry having using the control mode construction method of under-actuated systems provided in an embodiment of the present invention
A kind of construction method of sliding formwork control mode is provided in the case where disturbing, so that the sliding formwork control mode of under-actuated systems is in outside
Also can have preferable control performance and robustness in the case where interference.
Further, present invention is generally directed to drive lacking RATC systems constructs in the control problem with external interference
Control method.The former dynamic model of drive lacking RTAC system is first specifically subjected to nondimensionalization processing, and carries out model to it and turns
It gets in return to the first cascade model；Second cascade model based on deviation is then generated based on the first cascade model；Finally again
Sliding-mode control is designed based on the second cascade model, to ensure that the stability of whole system and subsystems.To sum up
Described, control method shown by the present invention can not only guarantee the stability of whole system, it is contemplated that existing control method
The problems such as external interference not accounted for, has practical significance, while compared to existing control method, sliding formwork of the invention
Control method has preferable control performance and robustness.
Embodiment two
To solve the above-mentioned problems in the prior art, the embodiment of the invention also provides a kind of controls of under-actuated systems
Mode construction device processed.
Fig. 7 shows the control mode construction device structural schematic diagram of two under-actuated systems of the embodiment of the present invention；With reference to figure
7, the control mode construction device of under-actuated systems of the embodiment of the present invention includes that model construction and conversion module, control target determine
Module and sliding-mode control construct module；
Model construction and conversion module are used to construct the former dynamic model of default under-actuated systems, and will based on model conversion
Former dynamic model is converted to the first cascade model, and the first cascade model includes the first subsystem and the second subsystem.
Target determination module is controlled for determining the control target of default under-actuated systems；
Sliding-mode control constructs module and is used to construct sliding-mode control according to the first cascade model and control target.
It is uncertain extraneous dry having using the control mode construction device of under-actuated systems provided in an embodiment of the present invention
A kind of construction method of sliding formwork control mode is provided in the case where disturbing, so that the sliding formwork control mode of under-actuated systems is in outside
Also can have preferable control performance and robustness in the case where interference.
Embodiment three
To solve the above-mentioned technical problems in the prior art, the embodiment of the invention also provides a kind of storage medium,
It is stored with computer program, and the control of under-actuated systems in embodiment one can be realized when which is executed by processor
All steps in mode construction method.
The specific steps of the control mode construction method of under-actuated systems and application are provided in an embodiment of the present invention readable
The beneficial effect that storage medium obtains is the same as example 1, and is not repeated herein to it.
It should be understood that storage medium, which includes: that ROM, RAM, magnetic or disk etc. are various, can store program code
Medium.
Example IV
To solve the above-mentioned technical problems in the prior art, the embodiment of the invention also provides a kind of terminals.
Fig. 8 shows four terminal structure schematic diagram of the embodiment of the present invention, and referring to Fig. 8, the present embodiment terminal includes mutually interconnecting
The processor and memory connect；Memory is used to execute the computer of memory storage for storing computer program, processor
Program, so that terminal can realize all steps in the control mode construction method of under-actuated systems in embodiment one when executing.
The specific steps and application terminal provided in an embodiment of the present invention of the control mode construction method of under-actuated systems
The beneficial effect of acquisition is the same as example 1, and is not repeated herein to it.
It should be noted that memory may include random access memory (Random Access Memory, abbreviation
RAM), it is also possible to further include nonvolatile memory (non-volatile memory), for example, at least a magnetic disk storage.
Similarly processor is also possible to general processor, including central processing unit (Central Processing Unit, abbreviation CPU),
Network processing unit (Network Processor, abbreviation NP) etc.；It can also be digital signal processor (Digital Signal
Processing, abbreviation DSP), specific integrated circuit (Application Specific Integrated Circuit, referred to as
ASIC), field programmable gate array (Field Programmable Gate Array, abbreviation FPGA) or other are programmable
Logical device, discrete gate or transistor logic, discrete hardware components.
While it is disclosed that embodiment it is as above, but the content that is scaled only to facilitate understand the present invention and
The embodiment of use, is not intended to limit the invention.Any those skilled in the art to which this invention pertains are not departing from
Under the premise of spirit and scope disclosed in this invention, any modification and change can be made in the formal and details of implementation
Change, but protection scope of the present invention, still should be subject to the scope of the claims as defined in the appended claims.
Claims (11)
1. a kind of control mode construction method of under-actuated systems, comprising:
Default former dynamic model of the under-actuated systems there are external disturbance is constructed, and will be described based on model conversion
Former dynamic model is converted to the first cascade model, and first cascade model includes the first subsystem and the second subsystem；
Determine control target of the default under-actuated systems there are external disturbance；
Sliding-mode control is constructed according to first cascade model and the control target.
2. the method according to claim 1, wherein constructing default under-actuated systems there are the feelings of external disturbance
Former dynamic model under condition, and the former dynamic model is converted to by the first cascade model step based on model conversion and includes:
Construct the former dynamic model of the default under-actuated systems there are external disturbance；
The former dynamic model is converted into non-dimensional model based on default auxiliary variable；
The non-dimensional model is converted into the first cascade model based on design variables.
3. according to the method described in claim 2, it is characterized in that, according to first cascade model and the control target structure
Building sliding-mode control step includes:
By setting control input and virtual controlling input, the second cascade model is converted by first cascade model, it is described
Second cascade model includes third subsystem and four subsystems；
Sliding-mode surface expression formula is designed based on second cascade model, and sliding formwork control side is designed according to the sliding-mode surface expression formula
Method.
4. according to the method described in claim 3, it is characterized in that, by setting control input and virtual controlling input, by institute
It states the first cascade model and is converted into the second cascade model step and include:
It determines control input, and assumes corresponding virtual controlling input, so that first subsystem is in stable state；
Determine the deviation expression formula of the control input and virtual controlling input；
The second cascade model is converted by first cascade model based on the deviation expression formula and the default auxiliary variable.
5. according to the method described in claim 3, it is characterized in that, designing sliding-mode surface expression formula based on second cascade model
Include:
Sliding-mode surface expression formula is designed based on the four subsystems in second cascade model, so that the 4th subsystem
System is in stable state.
6. the method according to claim 1, wherein further include:
Stability analysis is carried out to the default under-actuated systems under sliding-mode control control.
7. according to the method described in claim 6, it is characterized in that, by emulation experiment in the sliding-mode control control
The default under-actuated systems under system carry out stability analysis.
8. the method according to claim 1, wherein the default under-actuated systems are drive lacking RTAC system.
9. a kind of control device of under-actuated systems, which is characterized in that determined including model construction and conversion module, control target
Module and sliding-mode control construct module；
The model construction and conversion module, it is dynamic for constructing original of the default under-actuated systems there are external disturbance
States model, and the former dynamic model is converted to by the first cascade model based on model conversion, first cascade model includes
First subsystem and the second subsystem；
The control target determination module, for determining control of the default under-actuated systems there are external disturbance
Target processed；
The sliding-mode control constructs module, for constructing sliding formwork control according to first cascade model and the control target
Method processed.
10. a kind of storage medium, is stored thereon with computer program, which is characterized in that the realization when program is executed by processor
The control mode construction method of under-actuated systems described in any one of claims 1 to 8.
11. a kind of terminal characterized by comprising processor and memory lead between the memory and the processor
Letter connection；
The memory is used to execute the computer journey of the memory storage for storing computer program, the processor
Sequence, so that the terminal executes the control mode construction method of the under-actuated systems as described in any one of claims 1 to 8.
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