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I. INTRODUCTION
2983
~
Dw&w + D1 &1 &w + M 12&12 sin (1 + ) M
&&
&&
(M 12 cos(1 + )) w + M 221 =
(1)
D & & + G sin
1 1
w
1
1
M 11 = (m1 + mw ) r 2 + I w
M 12 = m1lr
2
M 22 = m1l + I1
G = m gl
1
~1
M = (m1 + mw )rg sin .
(2)
x = [x1
x2
state
variable
as
x&1 = x3
M 11 x&2 + (M 12 cos( x1 + )) x&3 =
(3a)
~ (3b)
Dw x2 + D1 ( x3 x2 ) + M 12 x3 2 sin ( x1 + ) M
(M 12 cos(x1 + ))x&2 + M 22 x&3 =
D1 ( x3 x2 ) + G1 sin x1
(3c)
where
0
0
1
M 11
M 12 cos( x1 + ) ,
M ( x ) = 0
0 M 12 cos( x1 + )
M 22
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(4)
x3
~,
2
F(x) = Dw x2 + D1 ( x3 x2 ) + M 12 x3 sin ( x1 + ) M
D1 ( x3 x2 ) + G1 sin x1
u = [0
] T .
x2
Suppose x = x1
of system (4), satisfying
x3 = 0,
x3
G1 sin x1 = Dw x2 + M .
M 1 = M 11 + M 12 cos( x1 + ),
M 2 = M 22 + M 12 cos( x1 + )
x&1 = x3
M x& 2 + b(x ) = M 2
M x& + a (x ) = M
3
1
+ (M 11 + M 12 cos( x1 + ))D1 x3
+ (M 12 x3 ) cos(x1 + )sin ( x1 + )
2
~
M 11G1 sin x1 M 12 cos( x1 + ) M ,
b(x ) = [M 22 (D1 + Dw ) + M 12 D1 cos( x1 + )]x2
(M 22 + M 12 cos(x1 + ))D1 x3
M 12 M 22 x3 sin ( x1 + )
2
~
+ M 12G1 sin x1 cos( x1 + ) + M 22 M .
A. Controller Design
We start by introducing a new state vector
z = [z1
z2
z3
z4 ]
f ( x) =
*
= 1 &1 w &w t &w &w
].
* T
(6)
s = 1 z1 + z 2 + 2 z3 + 3 z 4
where coefficients
1 , 2 , 3
f f F .
(7)
(8)
~
2
Dw x2 + G1 sin x1 + M 12 x3 sin ( x1 + ) M
(13)
are constants to be
ss& s
a(x) + 3b(x)
a (x) + 3b(x)
, f ( x) =
(12)
M
M
3 M 2 M 1
determined.
The state trajectories can be driven to the sliding surface by
choosing the control law such that
M 1 x& 2 + M 2 x&3 =
M = M 11M 22 (M 12 cos( x1 + )) ,
(11)
x1 ,
(10)
(5)
= (1 + )
3 M 2 M 1
M
, < 1 .(14)
1M
1
a (x) + 3 b(x)
z2
3 M 2 M 1
3 M 2 M 1
~
M
2 M
(15)
z4 +
k sgn( s )
M M
M M
=
(9)
where
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~
where a ( x) and b( x) are given by (11), and k , ~
r satisfy
F + ~
r + ~
~
k
, r = f 1 z 2 2 z 4 . (16)
1
Proof.
Using the equivalent control method, the equivalent
control law can be easily obtained as
1
a (x) + 3 b(x)
3 M 2 M 1
1M
2 M
z2
z4 .
(17)
3 M 2 M 1
3 M 2 M 1
Choose the sliding control law as = + d , the rest
work is to find appropriate switching control law d .
q = [q1
1 2
(20b)
(20c)
1 (q) = q2 ,
2 (q) =
3 M 2 M 1
(22)
~
3 M 12 q2 sin (q1 + ) + 3G1 sin q1 Dw 3&w 3 M ,
3 (q) =
3 M 2 M 1
[ 1M 2 q2 ( 2 M 2 Dw )q3
~
2
*
1
q = x
*
0 0 is one of the
*
M M1
+ 3 2
d
M
Choose
d =
~
where
2 4
z4 ] ,
3 M 2 M 1
3 M 2 M 1
M M M
1
3 2
1 (1 z 2 + 2 z4 )
M 3 M 2 M 1
M M1
+ 3 2
d
M
= f f + f z z
z2
*
M 1q&3 + M 2 q&2 = Dw q3 + &w + G1 sin q1
~
2
+ M 12 q2 sin(q1 + ) M ,
1q2 + q&2 + 2 q3 + 3q&3 = 0 .
1
=
M
a(x) M 1 ( + d )
= 1 z&1 +
+ 2 z4
M
M
b(x) M 2 ( + d )
+ 3
+
M
M
1
= 1 z&1 + 2 z 4 + [ a(x) 3b(x) + 3 M 2 M 1]
M
M M1
+ 3 2
d
M
q3 ] = [z1
q2
~
M
k sgn( s )
3 M 2 M 1
(18)
[(
~
ss& = s f f + ~
r + ( + 1) k sgn( s )
~
s F + ~
r + (1 )k .
if
1M 1 (q ) + Dw > 2 M 2 (q ),
(19)
3 M 2 (q ) M 1 (q ) < 0,
1 , 2 , 3 > 0, 13 > 2
hold,
(23)
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around equilibrium
q* .
Proof.
TABLE I
EXACTLY KNOWN PHYSICAL PARAMETERS OF THE MWIP SYSTEM
q& = B (q q* )
(24)
where
B=
1 =
2
q1
q q
0
= 1
4
, 2 =
q
3
4 =
q1
2
q2
1
2
5
0
3 ,
6
, 3 =
q
3
, 5 =
q2
q
2
q3
3
, 6 =
q3
q
(25)
1 6 3 4 > 0,
(27)
1 2 + 3 4
where
* 2
*
1
2 )M 1 (q* ) + 3 Dw ,
is given by
* =
I w = 0.6
r = 0.254
Length between
the wheel axle
and the center of
gravity of the
body (m)
viscous resistance in
the driving system
(N.s/m)
viscous
resistance of the
ground (N.s/m)
l = 0.267
D1 = 0.1
Dw = 3.3
Mass of the
body (Kg)
Moment of inertia of
the body (Kg.m2)
Actual system
m1 = 310.6
I1 = 65.0
Nominal system
m 1 = 137.6
I1 = 35.0
( )
(
= ( ) G cos x [(
m w = 29.0
(26)
2 + 6 = 1 * M 1 (q* ) + 2 * M 2 (q* ) * Dw ,
3 5 2 6 = * 1Dw 3 M 2 (q* ) M 1 (q* ) ,
Radius of the
wheel (m)
TABLE II
UNCERTAIN BODY PARAMETERS OF THE MWIP SYSTEM
( 2 + 6 )(35 2 6 ) + 1 2 + 3 4 > 0
1 6 3 4 = 2 *G1 cos x1 ,
Moment of inertia of
the wheel (Kg.m2)
2 + 6 < 0,
Mass of the
wheel (Kg)
selected as
1 = 1.5, 2 = 0.01
1
M 1 (q ) 3 M 2 (q )
= 5
3 = 0.05 .
= 0o
Three
= 5o
and
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[2]
numerical simulation.
[3]
[4]
[5]
[6]
[7]
[8]
Fig. 2.
[9]
[10]
[11]
[12]
[13]
[14]
[15]
Fig. 3.
[16]
[17]
[18]
[19]
[20]
[21]
Fig. 4.
[22]
[23]
REFERENCES
[1]
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