论文标题
针对机械系统的一类消极控制器的调整规则
Tuning Rules for a Class of Passivity-Based Controllers for Mechanical Systems
论文作者
论文摘要
在本文中，我们提出了几项规则，以调整基于被动性机械系统的一类被动率控制器的收益。这样的调整规则规定了对闭环系统的所需局部瞬态响应行为。为了建立调整规则，我们实现了基于PID的电击控制器。然后，我们将闭环系统线性化，然后将所得系统的矩阵转换为一类鞍点矩阵，以分析控制增益的影响，从振荡和上升时间对封闭环系统的瞬时响应方面。因此，最终的控制器稳定了植物，并同时解决了闭环系统的性能。此外，我们的分析可清楚地了解动能，势能和机械系统的阻尼如何与其瞬态响应有关，以这种方式赋予使用物理解释的调整规则。此外，我们通过实际实施的控制器来证实分析结果，该控制器稳定了两个自由度（DOF）平面操纵器，在该操作器下，根据拟议的规则对控制收益进行了调整。
In this paper, we propose several rules to tune the gains for a class of passivity-based controllers for nonlinear mechanical systems. Such tuning rules prescribe a desired local transient response behavior to the closed-loop system. To establish the tuning rules, we implement a PID passivity-based controller. Then, we linearize the closed-loop system, and we transform the matrix of the resulting system into a class of saddle point matrices to analyze the influence of the control gains, in terms of the oscillations and the rise time, on the transient response of the closed-loop system. Hence, the resulting controllers stabilize the plant and simultaneously address the performance of the closed-loop system. Moreover, our analysis provides a clear insight into how the kinetic energy, the potential energy, and the damping of the mechanical system are related to its transient response, endowing in this way the tuning rules with a physical interpretation. Additionally, we corroborate the analytical results through the practical implementation of a controller that stabilizes a two degrees-of-freedom (DoF) planar manipulator, where the control gains are tuned following the proposed rules.
