电动独轮车在张紧缆索上的非线性动力学建模与滚动时域NMPC
Nonlinear Dynamic Modeling and Receding-Horizon NMPC of an Electric Unicycle on a Tensioned Cable
浏览论文内容
中文总结 AI 辅助
本文提出一种电动独轮车穿越张紧缆索的非线性建模与控制框架，采用有限元与模态截断降阶模型，并设计NMPC控制器，通过冻结接触点插值降低计算负担，实现稳定穿越与振动抑制。
中文摘要 AI 辅助
穿越柔性细长结构涉及车辆运动与由移动接触点引起的结构振动之间的强双向耦合。本文提出了一种用于电动独轮车穿越张紧柔性缆索的非线性建模与控制框架。缆索采用以张力为主的有限元公式进行建模，保留垂直和横向横向动力学，并通过移动接触运动学与独轮车的侧倾和俯仰动力学耦合。模态截断产生了一个面向控制的降阶模型，该模型保留了非线性车辆-缆索耦合。基于该模型，制定了一个受约束的非线性模型预测控制器，以调节穿越、平衡、执行器限制和缆索跨度约束。为了减少与移动接触插值相关的计算负担，为NMPC预测模型引入了一种冻结空间接触点插值策略。在标称、扰动、受限和模型失配情景下的数值研究表明，穿越准确、侧倾和俯仰稳定、缆索振动衰减以及符合约束的闭环行为。与未冻结的公式相比，冻结插值公式减少并规范了NMPC计算时间，支持其作为基于有限元的移动接触车辆-结构相互作用系统的计算可行方法的用途。
英文摘要
Traversing flexible slender structures involves strong bidirectional coupling between vehicle motion and structural vibration caused by a moving contact point. This paper presents a nonlinear modeling-and-control framework for an electric unicycle traversing a tensioned flexible cable. The cable is modeled using a tension-dominated finite-element formulation retaining vertical and lateral transverse dynamics, and is coupled to the unicycle roll and pitch dynamics through moving-contact kinematics. A modal truncation yields a control-oriented reduced-order model that preserves the nonlinear vehicle--cable coupling. Based on this model, a constrained nonlinear model predictive controller is formulated to regulate traversal, balance, actuator limits, and cable-span constraints. To reduce the computational burden associated with moving-contact interpolation, a frozen spatial contact-point interpolation strategy is introduced for the NMPC prediction model. Numerical studies under nominal, disturbed, constrained, and model-mismatch scenarios show accurate traversal, roll and pitch stabilization, attenuation of cable vibrations, and constraint-consistent closed-loop behavior. The frozen-interpolation formulation reduces and regularizes NMPC computation times relative to the non-frozen formulation, supporting its use as a computationally tractable approach for finite-element-based moving-contact vehicle--structure interaction systems.
发表机构
- Palestine Polytechnic University（巴勒斯坦理工大学）
机构由 AI 辅助整理，请以论文原文为准。
