论文标题
单个桅杆堆叠起重机的采样数据模型的平坦度分析
Flatness Analysis for the Sampled-data Model of a Single Mast Stacker Crane
论文作者
论文摘要
我们表明，单个桅杆堆叠起重机的非线性连续时间模型的欧拉略属性是平坦的。平面输出的构建是基于子系统转换为线性时间变化的离散时间控制器规范形式。基于派生的平面输出，这也是系统变量向后移动的函数，我们讨论了轨迹的计划，以实现两个休息位置之间的过渡并计算相应的离散时间馈电控制。
We show that the Euler-discretization of the nonlinear continuous-time model of a single mast stacker crane is flat. The construction of the flat output is based on a transformation of a subsystem into the linear time-variant discrete-time controller canonical form. Based on the derived flat output, which is also a function of backward-shifts of the system variables, we discuss the planning of trajectories to achieve a transition between two rest positions and compute the corresponding discrete-time feedforward control.
