| 引用本文: | 袁 劲， 冯海.柔怀臂的主极点设置控制[J].控制理论与应用,1999,16(3):329~333.[点击复制] |
| Yuan Jin and Feng Haikun.Dominant Pole Placement Control of a Flexible Arm[J].Control Theory and Technology,1999,16(3):329~333.[点击复制] |
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| 柔怀臂的主极点设置控制 |
| Dominant Pole Placement Control of a Flexible Arm |
| 摘要点击 1261 全文点击 478 投稿时间：1998-06-03 修订日期：1998-12-10 |
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| DOI编号 |
| 1999,16(3):329-333 |
| 中文关键词 自适应控制 柔性臂控制 稳定性分析 |
| 英文关键词 adaptive control flexible arm control stability analysis |
| 基金项目 |
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| 中文摘要 |
| 柔性臂控制是一个活跃的研究课题，已经有不少结果。最多用的方法是通过模态分析以控制柔性低价振型（一般为首一或二个振型）。本文提出一种“主极点”（Dominant Poles）控制器，它可以控制任何数目的低价振型而不失稳定性，该控制器可以方便地转变为自适应控制器以应付数学模型中模态频率与阻尼系数与实际柔性壁之间的误间，本文用李雅普诺夫理论证明了本控制系统的全局稳定性（Global stability）。 |
| 英文摘要 |
| Control of a flexible arm is an active research topic with many available results. A popular approach is to apply modal analysis to a flexible arm and suppress its first few vibration modes. This research presents a simple method to control a flexible arm by focusing on the dominant poles. The controller is able to deal with as many modes as the feedback sensor system allows. It can be incorporated with an adaptive law to deal with uncertainties hidden in the mode frequencies and damping ratios. Stability of the closed loop system is established in the Lyapunov sense. |