Nonlinear Control Of Multi-TORA System

The underactuated TORA(translation actuators with rotating actuator)system is a nonlinear system with strong coupling.The control force is only the driving force of the motor,while the controlled degree of freedom has two(i.e.frame displacement and motor rotational angle).TORA system requires stable control of the frame displacement under the condition of applying rotation excitation.TORA system requires stable control of frame displacement under the condition of applying rotation excitation.This control idea can be applied to the active vibration suppression of complex systems with similar structures such as super high-rise buildings and long-span bridges in the field of civil engineering.When rotating excitation such as motor is used as the control output unit,the distributed coordinated control system design can effectively suppress the vibration of complex civil structures.In this paper,the problem of vibration suppression of cascaded frame under rotating excitation is simplified as the problem of stability control of "cascaded TORA system",The dynamic model of cascaded TORA system is established by Lagrange equation,and the model is simplified reasonably;in order to facilitate the design of the controller,a coordinate transformation is adopted to transfer the TORA subsystem mathematical model into the form of input decoupling,and a passive nonlinear controller is designed based on the transformation.The controller of subsystem needs to work coordinately,and the information of frame displacement and rotational angle of adjacent subsystem can be shared.The controller structure of cascade TORA system can be divided into two layers.The upper controller maintains the stability of the whole system.Based on the idea of passive control,the angular velocity control target of all levels of subsystems is planned.The lower controller uses the finite time controller to track the angular velocity target rapidly.Lyapunov method is used to prove the stability of the system.According to the principle of LaSalle invariant set,the equilibrium point of the system is asymptotically stable.On the MATLAB / Simulink simulation platform,the simulation models of 2-TORA,3-TORA and 10-TORA system are built respectively,which verify the effectiveness and robustness of the proposed controller.Compared with the traditional PD controller,the designed controller is easy to adjust the control parameters and can reach the stable state faster.