基于特征结构分配的JINAMCHA系统解耦与伺服控制器设计

SICE '99. Proceedings of the 38th SICE Annual Conference. International Session Papers (IEEE Cat. No.99TH8456) Pub Date : 1999-07-28 DOI:10.1109/SICE.1999.788694

Joo Ho Kim, J. Choi

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引用次数: 0

摘要

考虑了小车与指针耦合非常强的JINAMCHA系统的解耦与伺服控制。采用正确的特征结构分配(即特征值和特征向量同时分配)方案对小车和指针的运动进行解耦，并采用命令生成跟踪器(CGT)对JINAMCHA系统进行伺服控制。通过仿真对所提控制方案的性能进行了评价，即右特征结构分配与CGT组合控制方案的性能。结果表明，所提出的控制器比具有极限特性的LQR和传统的LQ伺服具有更好的性能。

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Decoupling and servo controller design for the JINAMCHA system using eigenstructure assignment

We consider a decoupling and servo control for the JINAMCHA system of which the cart and the pointer are coupled very strongly. The right eigenstructure assignment (i.e. simultaneous assignment of eigenvalues and right eigenvectors) scheme is used for decoupling the motions of the cart and the pointer, and the command generator tracker (CGT) is used for servo control of the JINAMCHA system. The performance of the proposed control scheme, that is, the performance of the combined control scheme of the right eigenstructure assignment and the CGT is evaluated by simulations. The results show that the proposed controller has better performance than the LQR with limiting properties and the conventional LQ servo.

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SICE '99. Proceedings of the 38th SICE Annual Conference. International Session Papers (IEEE Cat. No.99TH8456)

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