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Contents

Chapter 6. Differentially Flat Systems


Jean LEVINE
CAS, Mines-ParisTech

2008

Jean LEVINE

Chapter 6. Differentially Flat Systems

Contents

Contents

Flatness NSC, Linear Case Introductory Example: Linear Motor with Appended Mass General Solution (Linear Case)

Jean LEVINE

Chapter 6. Differentially Flat Systems

Contents

Contents

Flatness NSC, Linear Case Introductory Example: Linear Motor with Appended Mass General Solution (Linear Case) Flatness NSC, General Case Example of Non Holonomic Vehicle Implicit Representation Lie-B cklund Equivalence of Implicit Systems a Flatness Necessary and Sufcient Conditions

Jean LEVINE

Chapter 6. Differentially Flat Systems

Flatness NSC, Linear Case Flatness NSC, General Case

Introductory Example General Solution

Plan

Flatness NSC, Linear Case Introductory Example: Linear Motor with Appended Mass General Solution (Linear Case) Flatness NSC, General Case Example of Non Holonomic Vehicle Implicit Representation Lie-B cklund Equivalence of Implicit Systems a Flatness Necessary and Sufcient Conditions

Jean LEVINE

Chapter 6. Differentially Flat Systems

Flatness NSC, Linear Case Flatness NSC, General Case

Introductory Example General Solution

Introductory Example: Linear Motor with Appended Mass


Model: M = F k(x z) r( z) x x m = k(x z) + r( z) z x
rail

Aim: Fast and high-precision rest-to-rest displacements. Measurements: Motor position and velocity z not measured.

linear motor

flexible beam mass bumper

Experiment realized with the help of Micro-Controle.

Jean LEVINE

Chapter 6. Differentially Flat Systems

Flatness NSC, Linear Case Flatness NSC, General Case

Introductory Example General Solution

Flat Output Computation (J.L. et D.V. Nguyen, S&CL, 2003)


We want to express x, z and F as
d d x = a0 y + a1 y + . . . = (a0 + a1 dt + . . .)y = Px ( dt )y d d z = b0 y + b1 y + = (b0 + b1 dt + . . .)y = Pz ( dt )y d d F = c0 y + c1 y + . . . = (c0 + c1 dt + . . .)y = PF ( dt )y

Thus:
d d M dt2 + r dt + k
2

d Px y r dt + k Pz y = PF y
2

d d d r dt + k Px y + m dt2 + r dt + k

Pz y = 0

Solution: Px = 1 k m d2 d +r +k 2 dt dt
Jean LEVINE

Pz =

1 k

d +k dt

Chapter 6. Differentially Flat Systems

Flatness NSC, Linear Case Flatness NSC, General Case

Introductory Example General Solution

Flat Output: r2 r r2 x+ 1 z z mk mk k r m r x = y + y + , z = y + y y k k k Mm r y(4) F = (M + m) + y(3) + y k (M + m)k y=

Jean LEVINE

Chapter 6. Differentially Flat Systems

Flatness NSC, Linear Case Flatness NSC, General Case

Introductory Example General Solution

General Solution (Linear Case)


d Consider the linear controllable system A( dt )x = Bu. We are looking for P and Q such that x = Py, u = Qy with y: at output to be determined. Let C be s.t. CT B = 0. We thus have to solve CT AP = 0, AP = BQ

General Solution
d Smith Decomposition of CT A( dt ): U, V unimodular such that VCT AU = (|0). Thus: I P=U P0 0

Indeed: CT AP = CT AU

I P0 = V 1 (|0) 0 A at output y is deduced by left inversion of P.


Jean LEVINE

I 0

P0 = 0

Chapter 6. Differentially Flat Systems

Flatness NSC, Linear Case Flatness NSC, General Case

Non Holonomic Vehicle Implicit Representation Lie-B cklund Equivalence a Flatness NSC

Plan

Flatness NSC, Linear Case Introductory Example: Linear Motor with Appended Mass General Solution (Linear Case) Flatness NSC, General Case Example of Non Holonomic Vehicle Implicit Representation Lie-B cklund Equivalence of Implicit Systems a Flatness Necessary and Sufcient Conditions

Jean LEVINE

Chapter 6. Differentially Flat Systems

Flatness NSC, Linear Case Flatness NSC, General Case

Non Holonomic Vehicle Implicit Representation Lie-B cklund Equivalence a Flatness NSC

Example of Non Holonomic Vehicle


x = u cos y = u sin u = tan l After elimination of the input variables u and : y x tan = 0 Implicit representation invariant by dynamic extension. Variational Equation dy tan dx In Polynomial Form : tan d dt d dt
Jean LEVINE

x d = 0 cos2 x cos2 dx dy = 0. d

Chapter 6. Differentially Flat Systems

Flatness NSC, Linear Case Flatness NSC, General Case

Non Holonomic Vehicle Implicit Representation Lie-B cklund Equivalence a Flatness NSC

If (z1 , z2 ) is a at output, then (dz1 , dz2 ) is a at output of the variational system dx = dy = d = and we must have tan d dt d dt x cos2 Px,1 Px,2 Py,1 Py,2 = 0 P,1 P,2
j0 j0 j0 (j) 2 i=1 Px,i,j dzi = Px,1 dz1 + Px,2 dz2 (j) 2 i=1 Py,i,j dzi = Py,1 dz1 + Py,2 dz2 (j) 2 i=1 P,i,j dzi = P,1 dz1 + P,2 dz2

Jean LEVINE

Chapter 6. Differentially Flat Systems

Flatness NSC, Linear Case Flatness NSC, General Case

Non Holonomic Vehicle Implicit Representation Lie-B cklund Equivalence a Flatness NSC

Smith Decomposition tan d dt d dt = x cos2 1 0 0 0


2 cos x

0 1
cos2 d x dt

1 0
d sin xcos dt

One can verify that P is given by 0 1 P0 , (P0 arbitrary). 1 0 P= cos2 d sin cos d x dt x dt and thus 0 1 dx 1 0 P0 dz1 dy = cos2 d dz2 sin cos d d x dt x dt or dx = dz2 , dy = dz1 . Therefore: x = z2 , y = z1 .
Jean LEVINE Chapter 6. Differentially Flat Systems

Flatness NSC, Linear Case Flatness NSC, General Case

Non Holonomic Vehicle Implicit Representation Lie-B cklund Equivalence a Flatness NSC

Implicit Representation of Nonlinear Systems


f Consider the explicit system x = f (x, u) with rank u = m locally on X Rm . A representation invariant by endogenous dynamic extension is obtained by elimination of the input u = (x, x), yielding the (n m)-dimensional implicit system:

F(x, x) = 0 with rank F = n m. x We introduce the global coordinates x x = (x, x, , . . .) on the manifold X Rn endowed with the trivial Cartan eld n . The implicit representation is thus given by the triple (X Rn , n , F).
Jean LEVINE Chapter 6. Differentially Flat Systems

Flatness NSC, Linear Case Flatness NSC, General Case

Non Holonomic Vehicle Implicit Representation Lie-B cklund Equivalence a Flatness NSC

Lie-B cklund Equivalence of Implicit Systems a


Consider two implicit systems (X Rn , n , F) and (Y Rn , n , G). They are said Lie-B cklund equivalent iff there exists a locally C a mapping : Y Rn X Rn , with locally C inverse s.t. (i) n = n and n = n ; k (ii) for every y s.t. Ln G(y) = 0 for all k 0, then k x = (y) satises Ln F(x) = 0 for all k 0 and conversely. The system (X Rn , n , F) is at iff it is Lie-B cklund equivalent to a m , , 0). (R m Variational Property The system (X Rn , n , F) is at iff there exists a locally C and invertible mapping : X Rn Rm such that dF = 0.
Jean LEVINE Chapter 6. Differentially Flat Systems

Flatness NSC, Linear Case Flatness NSC, General Case

Non Holonomic Vehicle Implicit Representation Lie-B cklund Equivalence a Flatness NSC

We have: dF = and dF = P(F) P(0 )dy with P(0 ) =


j0

F F dx + dx = x x

F F d + x x dt

dx = P(F)dx

0 dj y(j) dtj

We thus have to nd a polynomial matrix P(0 ) solution to P(F) P(0 ) = 0. This solution is deduced from the Smith decomposition of P(F).
Jean LEVINE Chapter 6. Differentially Flat Systems

Flatness NSC, Linear Case Flatness NSC, General Case

Non Holonomic Vehicle Implicit Representation Lie-B cklund Equivalence a Flatness NSC

Notations:
d K: eld of meromorphic functions from X Rn to R and K[ dt ] d principal ideal ring of polynomials of dt = Ln with coefcients in K. d d Mp,q [ dt ]: module of the p q matrices over K[ dt ], with p and q arbitrary integers. d d Up [ dt ]: group of unimodular matrices of Mp,p [ dt ]. d Smith Decomposition: If P(F) Mnm,n [ dt ], there exist d d V Unm [ dt ] and U Un [ dt ] such that

VP(F)U = (, 0nm,m ) . We note V L Smith (P(F)) and U R Smith (P(F)). Moreover, if the linear tangent system around an arbitrary trajectory is controllable, one can prove that = Inm .
Jean LEVINE Chapter 6. Differentially Flat Systems

Flatness NSC, Linear Case Flatness NSC, General Case

Non Holonomic Vehicle Implicit Representation Lie-B cklund Equivalence a Flatness NSC

Flatness Necessary and Sufcient Conditions


(L vine (2004), L vine (2006)) e e Theorem The system (X Rn , n , F), assumed rst-order controllable, is at iff for all U R Smith (P(F)) and Q L Smith U , with 0nm,m , there exists an m m matrix such that for all Im d p (X)m and all p N, p+1 (X), and a matrix M Um [ dt ] such that, if we denote by , = (Im , 0m,nm ) Q(x)dx we have: d = , d () = 2 , d (M) = M with d extension of the exterior derivative d to polynomial matrices with coefcients in (X). U=U
Jean LEVINE Chapter 6. Differentially Flat Systems

Flatness NSC, Linear Case Flatness NSC, General Case

Non Holonomic Vehicle Implicit Representation Lie-B cklund Equivalence a Flatness NSC

Comments

The last conditions generalize the moving frame structure equations of Cartan to manifolds of jets of innite order. They are equivalent to the existence of M s.t. d(M) = 0, or equivalently to the existence of y s.t. dy = M (at output). Their validity may be checked by computer algebra.

Jean LEVINE

Chapter 6. Differentially Flat Systems

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