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具有采样反馈的力控制系统稳定性

王在华 胡海岩

王在华, 胡海岩. 具有采样反馈的力控制系统稳定性[J]. 力学学报, 2016, 48(6): 1372-1381. doi: 10.6052/0459-1879-16-102
引用本文: 王在华, 胡海岩. 具有采样反馈的力控制系统稳定性[J]. 力学学报, 2016, 48(6): 1372-1381. doi: 10.6052/0459-1879-16-102
Wang Zaihua, Hu Haiyan. STABILITY OF A FORCE CONTROL SYSTEM WITH SAMPLED-DATA FEEDBACK[J]. Chinese Journal of Theoretical and Applied Mechanics, 2016, 48(6): 1372-1381. doi: 10.6052/0459-1879-16-102
Citation: Wang Zaihua, Hu Haiyan. STABILITY OF A FORCE CONTROL SYSTEM WITH SAMPLED-DATA FEEDBACK[J]. Chinese Journal of Theoretical and Applied Mechanics, 2016, 48(6): 1372-1381. doi: 10.6052/0459-1879-16-102

具有采样反馈的力控制系统稳定性

doi: 10.6052/0459-1879-16-102
基金项目: 国家自然科学基金资助项目(11372354,11290151).
详细信息
    通讯作者:

    王在华,教授,主要研究方向:时滞系统及分数阶系统的动力学与控制,非线性动力学.E-mail:zhwang@nuaa.edu.cn

  • 中图分类号: O317+.1;O302

STABILITY OF A FORCE CONTROL SYSTEM WITH SAMPLED-DATA FEEDBACK

  • 摘要: 基于计算机的数字采样控制对离散信号进行运算并向作动器提供控制输入,是当前的主流控制技术.数字采样控制系统是这样一类控制系统,其控制对象由微分方程(组)描述,而控制律由离散采样信号给出.以采样PD(proportional-derivative)反馈作用下的单自由度力控制系统为例,基于离散系统的稳定性分析方法,研究采样控制律对控制系统稳定性的影响.为了突出采样反馈的作用,将系统取为无刚度、无阻尼的最简单形式.不同于已有研究假设位移采样信号与速度采样信号相互同步,本文研究当位移采样信号与速度采样信号不同步时受控系统的稳定性,发现位移采样信号与速度采样信号的采样周期不同组合对受控系统在增益平面上的稳定性区域有重要影响.结果表明,对所关心的三种数字采样反馈控制律,当位移采样信号滞后于速度采样信号一个采样周期时,受控系统具有最大的稳定性区域且对相同的增益值可以有最好的稳定效果.论文对这种现象进行分析,给出了一种力学解释.

     

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出版历程
  • 收稿日期:  2016-04-18
  • 修回日期:  2016-06-06
  • 刊出日期:  2016-11-18

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