匹配跟踪条件下非线性机电系统的能量感知性能评估
Energy-Aware Performance Evaluation of Nonlinear Mechatronic Systems Under Matched-Tracking Conditions
- University of Moratuwa（莫拉图瓦大学）
- Department of Electronic and Telecommunication Engineering（电子与电信工程系）
机构由 AI 辅助整理，请以论文原文为准。
AI总结：
本文针对机电系统性能评估仅关注跟踪指标的局限，提出能量感知评估框架EAPI，仿真显示非线性系统匹配跟踪下执行器能耗更高，纳入能量可完善性能评估。
AI中文摘要：
轨迹跟踪指标如均方根误差（RMSE）、超调量和调节时间被广泛用于评估机电系统的控制性能，但这些指标仅描述输出跟踪情况，未考虑产生观测运动所需的执行器功耗。该局限性在非线性系统中更为明显，因为其刚度和耗散依赖于系统状态。本文研究在相似跟踪条件下这些效应如何影响执行器能量，提出一种能量感知评估框架，将跟踪误差与累积执行器能量结合，可对性能近似匹配的系统进行比较，采用简单指标EAPI将两方面信息整合为单一度量。对比例-微分控制下的线性和非线性系统的仿真结果显示，相当的跟踪精度可对应显著不同的执行器能量，非线性系统在匹配工作点上始终需要更多能量，反映了非线性刚度和摩擦的影响。这些结果表明，仅基于轨迹的指标可能无法完全捕捉系统功耗的差异，纳入能量因素可为性能评估提供更具信息量的基础。
英文摘要：
Trajectory-tracking metrics such as root-mean-square error (RMSE), overshoot, and settling time are widely used to evaluate control performance in mechatronic systems. However, these measures describe output tracking alone and do not account for the actuator effort required to produce the observed motion. This limitation becomes more pronounced in nonlinear systems, where stiffness and dissipation depend on the system state. This paper examines how these effects influence actuator energy under similar tracking conditions. An energy-aware evaluation framework is introduced that combines tracking error with cumulative actuator energy and enables comparison between systems with approximately matched performance. A simple index (EAPI) is used to capture both aspects in a single measure. Simulation results for linear and nonlinear systems under proportional-derivative control show that comparable tracking accuracy can correspond to significantly different actuator energy. The nonlinear system consistently requires more energy across matched operating points, reflecting the influence of nonlinear stiffness and friction. These results suggest that trajectory-based metrics alone may not fully capture differences in system effort, and that including energy provides a more informative basis for performance evaluation.
