基于质点动力学模型多自由度灯体运动控制分析-analysis of multi-degree-of-freedom lamp body motion control base on particle dynamics model.docxVIP

摘 要本文介绍了多自由度灯体的功能结构特点以及在综合灯光控制系统中的作用，综述 了多自由度灯体运动控制系统相关研究问题的研究现状和发展趋势。多自由度灯体运动 控制系统是多变量、非线性、强耦合的复杂系统。在忽略灯体材料弹性效应的条件下， 假设灯体质量集中在质心，利用分析力学中的拉格郎日方程，建立了基于质点动力学的 二自由度、三自由度灯体运动控制模型。针对该非线性问题，利用一般多变量非线性系 统的逆系统方法将非线性系统转化为伪线性系统，不仅完全保留了系统信息，而且实现 了被控对象的大范围线性化和解耦，为应用线性控制理论设计控制器提高系统的动态特 性提供了理想平台。逆系统方法，由于具有理论形式统一，物理概念清晰直观，使用方法简单明了的特 点，使得它在非线性控制的研究方面得到了广泛应用。本文将逆系统理论应用于多自由 度灯体非线性控制系统反馈线性化，在此基础上研究基于状态反馈线性化模型的控制系 统设计问题。对于建模得到的基于质点动力学模型多自由度灯体运动控制系统进行了非 线性控制器设计。计算机仿真结果表明，设计得到的非线性控制方案在大范围运动情况下，控制系统 能使多自由度灯体位置参数快速准确逼近期望值，动态特性平滑控制效果较好。关键词：运动控制，非线性，逆系统，动力学ABSTRACTThe functional and structure characteristics of the multi DOF (Degree-of-Freedom) light body and its special function are introduced in this paper. The related research problems and developments are investigated. The motion control system of multi DOF light body is a multi variable, nonlinear and coupled complex system. Assuming the elastic distrotion of light body’s material is ignored and the mass centralize in the centroid, the 2 DOF and 3 DOF light body’s motion control system models are constructed by applying the Langrange equation. The inverse system method of multi variable nonlinear system is utilized to the nonlinear motion control system and convert the nonlinear system into a pseudo linear system. The method does not merely preserve the system information, but also achieves the great range linearization of nonlinear system and decouples the complex system.The inverse system approach, since the fact that it has united theory form and other good characteristics, is widely used in nonlinear control researches. The inverse system method of multi-variable nonlinear system is applied to the obtained system kinetics model then the α -th order inverse system is obtained. The pseudo-linear system is constructed by the α -th order inverse system and the original system, and the nonlinear decoupled control law is designed using the pole assignment method. The simulation results illustrate the proposed control scheme can realize ef