Motion Control Of Translational Oscillator With Rotating Actuator

As one kind of unique nonlinear systems, underactuated mechanical systems are challenging to control, because of lesser control inputs than the degrees of freedom. So far, there isn't a universal method for the control design of underactuated mechanical systems. Translational Oscillator with Rotating Actuator (TORA) system is proposed by researchers to study the control theory of underactuated systems. Validity, robustness and rapidity of control system can be tested on the TORA benchmark system.A new TORA system consisting of a one-storey structure and rotating actuator is proposed based on the TORA benchmark system, which can be treated as a simplified model of active mass damper system in structural vibration control. The dynamic modeling of TORA system is established using the Lagrange equations. Results of numerical simulations prove the validity of the dynamics of TORA system.Afterwards, we present the balance points, the controllability, the observability of the TORA system, and this work lays the foundation for the controller designing. Considering the underactuated characteristic of TORA system, a hierarchical sliding mode control (HSMC) method is designed. Stability of control system is presented with theoretical analysis. Besides, results of numerical simulation prove the feasibility and robustness of the proposed HSMC controller.Using the rapid control prototype function of dSPACE system, the semi-physical simulation platform is constructed, in which, physical TORA system processed is the plant in the control system. System parameters are obtained through parameter identification. Experiments are conducted on the semi-physical simulation platform, and results validate the effectiveness and robustness of the presented controller.