| 逆系统方法在刚体动力学中的应用──研究带2个陀螺的刚体运动的渐进跟踪问题 |
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| 引用本文： | 高坚,贺昌政.逆系统方法在刚体动力学中的应用──研究带2个陀螺的刚体运动的渐进跟踪问题[J].沈阳化工学院学报,2000(2). |
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| 作者姓名： | 高坚 贺昌政 |
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| 作者单位： | 四川大学管理科学系!四川成都610065 |
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| 摘 要： | 在刚体动力学中 ,微分几何方法有效地解决了非线性控制问题 ,但使用过程中计算繁琐 .本文将逆系统方法应用于刚体动力学中 ,运用非线性控制的逆系统方法设计刚体Euler动力学方程的控制器 .通过对 2个陀螺转动的控制 ,实现对刚体转动的渐进跟踪 .
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| 关 键 词： | 逆系统方法 Euler动力学方程 渐进跟踪 |
Application of Inverse System Method to Rigid Body Dynamics Study on Progressive Tracking of Rigid Body with Two Rotors |
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| GAO Jian,HE Chang zheng.Application of Inverse System Method to Rigid Body Dynamics Study on Progressive Tracking of Rigid Body with Two Rotors[J].Journal of Shenyang Institute of Chemical Technolgy,2000(2). |
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| Authors: | GAO Jian HE Chang zheng |
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| Abstract: | The differential geometry method was applied to the rigid body dynamics efficiently in recent years.However,its calculating process is complicated in practical application.The author applies the inverse system method to rigid body dynamics system and designs a controller of the Euler dynamic equations.The progressive tracking of the motion of a rigid body is realized by controlling the two rotors in it. |
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| Keywords: | inverse system method \ Euler dynamic equation \ progressive tracking |
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