Purpose

The purpose of this research on the control of three-axis aero-dynamic pendulum with disturbance is to facilitate the applications of equipment with similar pendulum structure in intelligent manufacturing and robot.

Design/methodology/approach

The controller proposed in this paper is mainly implemented in the following ways. First, the kinematic model of the three-axis aero-dynamic pendulum is derived in state space form to construct the predictive model. Then, according to the predictive model and objective function, the control problem can be expressed a quadratic programming (QP) problem. The optimal solution of the QP problem at each sampling time is the value of control variable.

Findings

The trajectory tracking and point stability tests performed on the 3D space with different disturbances are validated and the results show the effectiveness of the proposed control strategy.

Originality/value

This paper proposes a nonlinear unstable three-axis aero-dynamic pendulum with less power devices. Meanwhile, the trajectory tracking and point stability problem of the pendulum system is investigated with the model predictive control strategy.

中文翻译：

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扰动环境下采用MPC策略的三轴气动摆的轨迹跟踪及点稳定性

目的

本项研究的带扰动三轴气动摆锤控制研究旨在促进类似摆锤结构的设备在智能制造和机器人中的应用。

设计/方法/方法

本文提出的控制器主要通过以下方式实现。首先，以状态空间形式推导出三轴气动摆的运动学模型，构建预测模型。然后，根据预测模型和目标函数，控制问题可以表示为二次规划（QP）问题。QP问题在每个采样时间的最优解是控制变量的值。

发现

在具有不同扰动的 3D 空间上进行的轨迹跟踪和点稳定性测试得到验证，结果表明所提出的控制策略的有效性。

原创性/价值

本文提出了一种具有较少功率器件的非线性不稳定三轴气动摆锤。同时，利用模型预测控制策略研究了摆系统的轨迹跟踪和点稳定性问题。