Zhang Dongyue, Zhang Yuan, Zhang Hui, Jia Chuanbao, Li Chenming
The College of Mechanical and Electronic Engineering, Shandong University of Science and Technology, Qingdao 266590, China.
Libo Heavy Industry Science & Technology Co., Ltd, Taian 271000, China.
ISA Trans. 2024 Aug;151:409-422. doi: 10.1016/j.isatra.2024.05.046. Epub 2024 May 28.
Uncertainty can lead to jitter or overshoot in mechanical systems, necessitating the design of multiple constraints to stabilize them. This paper proposes a control structure based on the generalized Udwadia-Kalaba equation to address these constraints simultaneously. An uncertain dynamical model is developed, incorporating both equality and inequality constraints. By integrating diffeomorphism theory, a robust control strategy is designed to ensure compliance with these constraints. Utilizing the Lyapunov approach, the uniform boundedness and uniform ultimate boundedness of the dynamical system are demonstrated. Finally, the feasibility of the proposed control method is validated through its application to a belt conveyor system.
不确定性会导致机械系统出现抖动或超调，因此需要设计多个约束条件来使其稳定。本文提出一种基于广义乌德瓦迪亚 - 卡拉巴方程的控制结构，以同时解决这些约束条件。建立了一个包含等式和不等式约束的不确定动力学模型。通过整合微分同胚理论，设计了一种鲁棒控制策略，以确保符合这些约束条件。利用李雅普诺夫方法，证明了动力学系统的一致有界性和一致最终有界性。最后，通过将所提出的控制方法应用于带式输送机系统，验证了其可行性。
