Tuning Rules for a Class of Passivity-Based Controllers for Mechanical Systems
Tuning Rules for a Class of Passivity-Based Controllers for Mechanical Systems
复制标题
一类基于无源性的机械系统控制器的调节规则
DOI：
10.1109/lcsys.2020.3044835
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发表时间：
2020
影响因子：
3
通讯作者：
J. Scherpen
中科院分区：
文献类型：
--
作者：
Carmen Chan;P. Borja;J. Scherpen
在这封信中，我们提出了几个规则来调整一类基于无源性的非线性机械系统控制器的增益。这样的调谐规则规定了闭环系统的期望的局部瞬态响应行为。为了建立整定规则，我们实现了基于PID无源性的控制器。然后，我们将闭环系统线性化，并将所得系统的矩阵变换为一类鞍点矩阵，以分析控制增益（从振荡和上升时间角度）对闭环系统瞬态响应的影响。因此，所得到的控制器稳定的植物，同时解决闭环系统的性能。此外，我们的分析提供了一个清晰的洞察如何的动能，势能，和阻尼的机械系统是相关的，其瞬态响应，赋予以这种方式的调谐规则与物理解释。此外，我们证实了分析结果，通过实际实施的控制器，稳定的两个自由度（DoF）的平面机械手，控制增益调整后提出的规则。
In this letter, we propose several rules to tune the gains for a class of passivity-based controllers for nonlinear mechanical systems. Such tuning rules prescribe a desired local transient response behavior to the closed-loop system. To establish the tuning rules, we implement a PID passivity-based controller. Then, we linearize the closed-loop system, and we transform the matrix of the resulting system into a class of saddle point matrices to analyze the influence of the control gains, in terms of the oscillations and the rise time, on the transient response of the closed-loop system. Hence, the resulting controllers stabilize the plant and simultaneously address the performance of the closed-loop system. Moreover, our analysis provides a clear insight into how the kinetic energy, the potential energy, and the damping of the mechanical system are related to its transient response, endowing in this way the tuning rules with a physical interpretation. Additionally, we corroborate the analytical results through the practical implementation of a controller that stabilizes a two degrees-of-freedom (DoF) planar manipulator, where the control gains are tuned following the proposed rules.