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06-08-01386 22 ( 1.8).

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, ,
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- . , , , , , :
,
[2, 16, 17, 20, 22, 23, 26].

:
()
. , . .
, .
. () 2


, 
() , .
( [6, 7, 22, 25, 26])
,. . 1 , Mechatronics Systems Inc.
-
- . , [6,7].
, , ,
.

. 1.
.
3

. XX
[25]
: .
( [8]). [25] ,

.
. [25]


- . .
[7]

. [7]
( 20o ) . [7] ,

, . .
. [7] ,
, (
[7] ), , 4


. [7]
, 
, .

. [25], :
.
[12, 13] [2,4,11]. . , , [7],
, ( )
[7].
[1].

2. 3 -1  . -2   4. 5 ,
.
. , ,
5

. XX

. 2. .

.
1.
[7],
. ,
(. 1,2).
.

, .
.
,
.

.
.

6


[7]
(1)

(
J + (Jr + Jm ) = (M b + m h)g sin ,
(Jr + Jm ) + (Jr + 2 Jm ) = T,

 ;  ; Jm 
( ), Jr 
; J = Jv + Jr + Jm + mh2
 
, Jv
; g 
; M , m  ; b, h 
( ); T  ,
;  , = ,  .
- ,
T (
)
(2)
T = c1 u c2 1 ,
u  ;
c1 , c2  .
(1), (2)
}
{, ,
u. ()
= 0 (, = 2n, n = 0, 1, . . . ).
, (1), (2)
. ,

. , ,
7

. XX
.
,
.
2.


, , . , .
2.1.

,
.
x(t) (, ) x (t). ,
.
[14, 15, 21, 27].

[21]. [2, 4, 11, 18, 19]
[12, 13] . .
,

(3)

x = F (x, u, t),

t > 0,

x Rn  , u Rm 
() , F () : Rn+m+1 Rn 
8


x -. u(t) = U {x(s), u(s) : 0 6 s 6 t},

(4)

Qt 0 t ,

Qt 
 , Qt = Q x(s), u(s) :
06s6t .
() Qt =
Q(x(t), t), Q(x, t) > 0, (x, u, t), Qt (3). -

T

, (x, u, t) = x Q F (x, u, t).


[12, 13]

(x, u, t) u. -,
,
[5, 13]:

(5)


d
u + (x, u, t) = u (x, u, t),
dt

()  ,
T u > 0,  m m- ( = T > 0).
(5) - [12,13]
(6)

u(t)

= u (x, u, t),

= T > 0

-
(7)

u = (x, u, t),
9

. XX
:
(8)
(9)

u = u (x, u, t), = T > 0,



u = 1 sign u (x, u, t) , 1 = diag{i }, i > 0,

( sign(z) z ).
, (5)(9) Q
. t Q < 0
Qt .
, Q(x, t)
. [4, 11, 18],
.
, . (),
, ,
.
:
(10)


p =

H
q

T


+ Bu, q =

H
p

T
,

p, q Rn  ,
n  ; H = H(p, q) 
( ),
; u = u(t) 
( ); B(p, q)
 m n , B Rmn , m 6 n.
10



 H(p, q)
H : lim H p(t), q(t) = H . t

(4), x = col{p, q},


(11)

Q(p, q) =

2
1
H(p, q) H .
2

, Q 
(11) (10). Q = (H


H T
Bu. - (8), (9) :
H )
p
(12)
(13)


u = (H H )B

H
p


u = sign (H H )B

,


H
p


.

()

.
2.2. -

. , , () .
11

. XX
.
,
(4) H(x) H [4, 18, 24].
E
[7]

(14)
E = 0.5 Jv 2 + Jr ( + )2 + Jm ( + )2 + mh2 2 ,
()
(15)
() = (M b + m h)g cos .
) =
, H = H(, ,

E(, , ) + ()

) = (M b + m h) g cos + 0.5(J + Jm + mh2 ) 2 +


H(, ,
(16)

+ (Jr 1 + 2Jm ) + (Jm + 0.5Jr 2 ) 2 .

Q H
H :

) = 0.5 H(, ,
) H 2 .
(17)
Q(, ,
, ) Q(, ,
(1), (2).

) = H(, ,
) H (M b + m h)g sin +

Q(,
,

+ )+
+ (J + Jm + mh2 ) + (Jr 1 + 2Jm )(

(18)


+ (2Jm + Jr 2 ) .



(19)

)  ,
u = (H H) (,

(20)


)  ,
u = sign (H H) (,

12

) = H(,
)/u.

(,
,

(, )
(1), (2) , .
- ( ):

) ,
(21)
u = sat K (H H) (,
sat()  , K  ( ) . K (21) (20). ,
(20), (21) , ,
|u(t)| 6 . (19) .

[7]:

M = 1 , m = 3 , b = 0.1 , h = 0.13 , J = 0.12 2 ,


Jm = 0.03 2 , Jr = 104 2 , Jv = 3.92 102 2 ,
= 0.1, c1 = 8 102 /, c2 = 7.6 103 .
(16)

() =4.81 cos ,
(22)

) = 4.81 cos + 0.1 2 + 0.06 + 0.035 2 .


H(, ,

(1), (2)
. (

):
(
6.14 50.1 sin = 6.46 u,
(23)
+ 23.8 + 38.8 sin = 25 u.
13

. XX
(23) =
0 , =
{24.2, 6.0, 6.5}.
, (23)


) = H(, ,
) H (0.23 + 1.36) u 1.29 2 +

Q(,
,


+ 0.34 sin + 2.88 sin 0.217 .
,

(24)



Q
) H 0.23 + 1.36 .
= H(, ,
u

)
, (,
) = 0.23 + 1.36 .
(19)(21) (,

.
(16), (20)
((0) = ) . (22) , , H = 4.81 . H = 4.81 . = 16 .
3, 4.
,
, : , 15 1 2.4 /c.
=
. 4 H (, )
2
2

(M b + m h) g cos + 0.5(J + Jm + mh ) ,
. ,
14

. 3. (16), (20)
= 16 , H = 4.81 .

- .

. 4. (16), (20)
= 16 , H = 4.81 .
, - (
)
, , . (0) 0 15

. XX
, ,
, .
,
, H .
2.3. :

, - ,
), :
H(, ,

= (M b + mh)g cos() + 0.5(J + Jm + mh2 ) 2 ,


(25) H (, )
.


= 0.5 H (, )
H 2.
(26)
Q(, )
, , (1), (2),
Q(, )
(27)


H 1 sin + (2 u + 3 + 4 sin ) ,
Q = H (, )
i , i = 1, . . . , 4  ,
. Q
u , 2 < 0,
:
(28)

u = (H H )  ,

(29)

u = sign (H H )

 .

(1), (2)
(25), (29).
16

. 5.
(25), (29) = 6 , H = 4.81 .

= 6 5, 6. ,  .

. 6. (25), (29)
= 6 , H = 4.81 .

17

. XX
3.
, , , (7) -.
,
( ) . , [10] (. [3]).
(23) = 0
( (23) u, u } ). x = col{, ,

x = Ax + Bu

0
1
0
A = 50.1 0 6.14
38.8 0 23.8

(30)

0
B = 6.46 .
25

, x (30) , g R3 , B(s) W (s) = g T (pI A)1 B


. [9]. g1 =
1, B(s) = (6.46g2 + 25g3 )s2 (6.46 + 0.25g2 )s
0.25103 g3 . B(s)
D(s) = s2 + 1.40 s + 20 , 0 = 5 1 g2 = 0.23 ,
g3 = 0.023 . ,

:
(31)

u = sign ,

= g1 (

g1 = 1, g2 = 0.23, g3 = 0.023.
18

mod 2) + g2 + g3 ,

. 7.
(25), (29), (31) = 6 .
4.
(25), (29)
(31) abs( mod 2) < .
(25), (29)
(31). = 40o . 7, 8. , , ,
. .
{, , }
9. H .

5.
, 19

. XX

. 8. (25),
(29), (31).

. 9. .  o
( ), 
( ).

20


, . :
.
, .
.
, [7], , ,
.

1.

2.

3.

4.

5.

6.

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. XX

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14.

15.

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17.

22

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