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

基于小波和脉冲控制方法的非光滑机电系统的主动奇点控制摘要在冲击和脉冲控制作用下，系统行为的共同特征是存在奇点，这些奇点表现为系统运动的不连续性和非光滑性，系统维度的跳跃，对初始条件的不连续依赖和其他不规则。该方案的重点是在系统运动的奇点阶段引入控制动作，而不是在系统运动的非奇异阶段引入传统的控制方法。研究的目的是a)建立一个数学框架来表示系统运动奇点阶段的控制动作、系统运动和系统动力学，并将它们与规则运动阶段相结合，b)开发超高速的时间局部化状态估计和系统辨识程序，其利用包含平滑和脉冲测量数据的信号，C)开发满足特定控制目标的开环和反馈控制律的设计程序，包括在奇点阶段和常规系统运动中应用的控制动作；d)将所开发的程序应用于快速阀门锅炉汽轮机组的高速故障排除、MEMS中基于冲击的运动的建模和控制以及具有脉冲终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.