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首页> 外文期刊>Proceedings of the Institution of Mechanical Engineers >Orbitally stabilizing control for the underactuated translational oscillator with rotational actuator system: Design and experimentation
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Orbitally stabilizing control for the underactuated translational oscillator with rotational actuator system: Design and experimentation

机译：带旋转执行器系统的欠驱动平移振荡器的轨道稳定控制：设计和实验

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摘要

Underactuated translational oscillator with rotational actuator systems are simplified mechatronic systems introduced to investigate the despin maneuver phenomenon for dual-spin spacecrafts in mechanical engineering. The conventional research work for translational oscillator with rotational actuator systems mainly focuses on stabilizing control of equilibrium points. In this article, an orbitally stabilizing control strategy is proposed to steer oscillating movements of a translational oscillator with rotational actuator system. Based on the natural periodicity of translational oscillator with rotational actuator system self-sustained oscillation, the dynamics is analyzed to derive the periodically orbital functions of the translational oscillator with rotational actuator system. Then, a proper control Lyapunov function following the principle of energy conservation is designed to obtain orbitally stabilizing controller for target periodical oscillation orbits of the translational oscillator with rotational actuator system. Finally, the validity of the presented control strategy is demonstrated via the simulations and experiments.
机译：具有旋转执行器系统的欠驱动平移振荡器是简化的机电系统，旨在研究机械工程中双自旋航天器的自旋操纵现象。具有旋转致动器系统的平移振荡器的常规研究工作主要集中在平衡点的稳定控制上。在本文中，提出了一种轨道稳定控制策略，以控制带有旋转执行器系统的平移振荡器的振荡运动。基于具有旋转致动器系统自持振荡的平移振荡器的自然周期性，对动力学进行分析，得出具有旋转致动器系统的平移振荡器的周期性轨道函数。然后，根据能量守恒原理，设计了一个适当的控制李雅普诺夫函数，以得到具有旋转执行器系统的平移振荡器的目标周期性振荡轨道的轨道稳定控制器。最后，通过仿真和实验证明了所提出控制策略的有效性。

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