Research on Stability of the High-order System Based on the Routh Criterion and Dominant Pole Method
The force model of the omnidirectional robot moving on the slope is constructed, the system function of the model is calculated, and the influence on the system due to load, slope <italic>θ</italic>, inertia and other disturbances is analyzed. The Routh criterion is proposed as the stabi...
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| Format: | Article |
| Language: | zho |
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Editorial Office of Journal of Mechanical Transmission
2024-06-01
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| Series: | Jixie chuandong |
| Subjects: | |
| Online Access: | http://www.jxcd.net.cn/thesisDetails#10.16578/j.issn.1004.2539.2024.06.006 |
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| author | Lin Xianxin Su Qian Ye Chengbao Li Guojin Liang Lin |
| author_facet | Lin Xianxin Su Qian Ye Chengbao Li Guojin Liang Lin |
| author_sort | Lin Xianxin |
| collection | DOAJ |
| description | The force model of the omnidirectional robot moving on the slope is constructed, the system function of the model is calculated, and the influence on the system due to load, slope <italic>θ</italic>, inertia and other disturbances is analyzed. The Routh criterion is proposed as the stability condition of the high-order system, and the root-locus dominant pole method is used to obtain a similar second-order system. The system performance index is observed and the optimal solution is obtained. The simulation results show that when the load <italic>K</italic> is 3.25 kg, the self-correction effect of the omni-directional robot on the slope motion system is better, which shows that using the Routh criterion and dominant pole method to study the stability of the high-order system is feasible and effective, and it provides a certain reference for future research on high-order system correction under the disturbance of the variable <italic>θ</italic>. |
| format | Article |
| id | doaj-art-46ede8d9d1ad4681b0215e4c7561f534 |
| institution | Kabale University |
| issn | 1004-2539 |
| language | zho |
| publishDate | 2024-06-01 |
| publisher | Editorial Office of Journal of Mechanical Transmission |
| record_format | Article |
| series | Jixie chuandong |
| spelling | doaj-art-46ede8d9d1ad4681b0215e4c7561f5342025-01-10T15:00:42ZzhoEditorial Office of Journal of Mechanical TransmissionJixie chuandong1004-25392024-06-0148354062028331Research on Stability of the High-order System Based on the Routh Criterion and Dominant Pole MethodLin XianxinSu QianYe ChengbaoLi GuojinLiang LinThe force model of the omnidirectional robot moving on the slope is constructed, the system function of the model is calculated, and the influence on the system due to load, slope <italic>θ</italic>, inertia and other disturbances is analyzed. The Routh criterion is proposed as the stability condition of the high-order system, and the root-locus dominant pole method is used to obtain a similar second-order system. The system performance index is observed and the optimal solution is obtained. The simulation results show that when the load <italic>K</italic> is 3.25 kg, the self-correction effect of the omni-directional robot on the slope motion system is better, which shows that using the Routh criterion and dominant pole method to study the stability of the high-order system is feasible and effective, and it provides a certain reference for future research on high-order system correction under the disturbance of the variable <italic>θ</italic>.http://www.jxcd.net.cn/thesisDetails#10.16578/j.issn.1004.2539.2024.06.006Omnidirectional robotRouth criterionDominant pole methodSystem stability |
| spellingShingle | Lin Xianxin Su Qian Ye Chengbao Li Guojin Liang Lin Research on Stability of the High-order System Based on the Routh Criterion and Dominant Pole Method Jixie chuandong Omnidirectional robot Routh criterion Dominant pole method System stability |
| title | Research on Stability of the High-order System Based on the Routh Criterion and Dominant Pole Method |
| title_full | Research on Stability of the High-order System Based on the Routh Criterion and Dominant Pole Method |
| title_fullStr | Research on Stability of the High-order System Based on the Routh Criterion and Dominant Pole Method |
| title_full_unstemmed | Research on Stability of the High-order System Based on the Routh Criterion and Dominant Pole Method |
| title_short | Research on Stability of the High-order System Based on the Routh Criterion and Dominant Pole Method |
| title_sort | research on stability of the high order system based on the routh criterion and dominant pole method |
| topic | Omnidirectional robot Routh criterion Dominant pole method System stability |
| url | http://www.jxcd.net.cn/thesisDetails#10.16578/j.issn.1004.2539.2024.06.006 |
| work_keys_str_mv | AT linxianxin researchonstabilityofthehighordersystembasedontherouthcriterionanddominantpolemethod AT suqian researchonstabilityofthehighordersystembasedontherouthcriterionanddominantpolemethod AT yechengbao researchonstabilityofthehighordersystembasedontherouthcriterionanddominantpolemethod AT liguojin researchonstabilityofthehighordersystembasedontherouthcriterionanddominantpolemethod AT lianglin researchonstabilityofthehighordersystembasedontherouthcriterionanddominantpolemethod |