| Synchronization is a kind of motional state exists in the natural world, mankind's society and engineering field objectively. How to make several object motional states moderate synchronously dynamically is of great significance to engineering. At present, synchronization control methods still make progress and perfection continuously, and produced various synchronization control methods. It's more robustly in the passivity control method based on system's passivity, and have been applied to system stabilization, robust control and adaptive control.As description of mechanical and electromechanical systems, port-controlled Hamiltonian systems are more widely applied than Euler-Lagrangian systems. The IDA-PBC method of Hamiltonian systems modify the interconnection matrix and damping matrix to construct the closed-loop Hamiltonian function as system's total energy function, and the energy function has a minimum point at the desire equilibrium point, and satisfies energy equilibrium mechanism and passivity control conditions. So we can deduce system's passivity stability control law directly. Adding synchronization error state variable to the systems, we can further design the synchronization controller.Different from existence synchronization control methods, this dissertation adopt IDA-PBC method of Hamiltonian systems'passivity control theoretic to research a class of actuated and underactuated mechanical systems'synchronization problems. Take double-gimbaled gyroscope system as an actuated control object to design its stabilization controller and synchronization controller and do experiment. Then take the passivity control theoretic to a class of underactuated system, and aimed at inertia wheel pendulum system to design its stabilization controller and synchronization controller. Then simulate using MATLAB to valid its availability. The simulation shows that the synchronization controller has well synchronization effect and strong anti-disturbance ability. |
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