Active Singularity Approach to Control of Nonsmooth Mechanical and Electromechanical Systems Using Wavelet-based and Impulsive Contol Methods

基于小波的非光滑机电系统主动奇异性控制的脉冲控制方法摘要具有冲击和脉冲控制作用的系统行为的共同特征是奇异性的存在，这些奇异性表现为系统运动的不连续性和非光滑性、系统维数的跳跃、对初始条件的不连续依赖性以及其他不规则性。 该方案的重点是在系统运动的奇异性阶段引入一个控制动作，而不是传统的在系统运动的非奇异性阶段的控制方法，研究的目标是：a）建立一个数学框架，用于表示系统运动奇异性阶段的控制动作、系统运动和系统动力学，并将它们与规则运动相结合; B）开发超高速时间局部化状态估计和系统识别程序，其利用包含平滑和脉冲测量数据的信号，c）开发用于设计开环和反馈控制律的程序，以通过在奇异相位期间以及在规则系统运动期间施加的控制动作来满足特定控制目标，以及d）将所开发的过程应用于具有快速阀门的锅炉-涡轮机组中的高速故障清除、MEMS中基于冲击的运动的建模和控制、以及用于切割和焊接的具有脉冲端点返回运动的机器人系统的控制。

Active Singularity Approach to Control of Nonsmooth Mechanical & Electromechanical Systems Using Wavelet-Based & Impulsive Control MethodsAbstractThe common feature in the behavior of systems with impacts and impulsive control actions is the presence of singularities which manifest themselves in discontinuities and nonsmoothness in system motion, jumps in system dimension, lack of continuous dependence on the initial conditions and other irregularities. This proposal focuses on the introduction of a control action into the system during the singularity phase rather than the traditional approach of control during the nonsingular phase of the system motion.The goal of the research are to a) develop a mathematical framework for representing control actions, system motions, and system dynamics during the singularity phase of system motion and combining them with the regular motion phase, b) develop the ultra-high-speed time-localized state estimation and system identification procedures, which utilize signals containing both smooth and impulsive measurement data, c) develop procedures for the design of open-loop and feedback control laws to satisfy specific control objectives with control actions applied during the singularity phase as well as during the regular system motion, and d) apply the procedures developed to the high speed fault clearing in the boiler-turbine units with fast valving, modeling and control of impact-based motions in MEMS, and control of the robotic systems for cutting and welding with impulsive endpoint return motion.