Research on Stability of the High-order System Based on the Routh Criterion and Dominant Pole Method

Lin Xianxin; Su Qian; Ye Chengbao; Li Guojin; Liang Lin

doi:10.16578/j.issn.1004.2539.2024.06.006

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Research on Stability of the High-order System Based on the Routh Criterion and Dominant Pole Method

Theory·Research | 更新时间：2024-06-19

- Research on Stability of the High-order System Based on the Routh Criterion and Dominant Pole Method
- Journal of Mechanical Transmission Vol. 48, Issue 6, Pages: 35-40(2024)
- 作者机构：
  
  1.广西机电职业技术学院机械工程学院，广西南宁 530007
  2.广西大学电气工程学院，广西南宁 530004
  3.曼彻彼斯高新技术有限公司，广西南宁 530007
- 作者简介：
- 基金信息：
- DOI：10.16578/j.issn.1004.2539.2024.06.006
  CLC：
- Published：15 June 2024，
  
  Received：28 March 2023，
  
  Revised：05 May 2023，
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林显新,苏茜,叶城保等.基于Routh判据+主导极点法在高阶系统中的稳定性研究[J].机械传动,2024,48(06):35-40.

Lin Xianxin,Su Qian,Ye Chengbao,et al.Research on Stability of the High-order System Based on the Routh Criterion and Dominant Pole Method[J].Journal of Mechanical Transmission,2024,48(06):35-40.
林显新,苏茜,叶城保等.基于Routh判据+主导极点法在高阶系统中的稳定性研究[J].机械传动,2024,48(06):35-40. DOI： 10.16578/j.issn.1004.2539.2024.06.006.

Lin Xianxin,Su Qian,Ye Chengbao,et al.Research on Stability of the High-order System Based on the Routh Criterion and Dominant Pole Method[J].Journal of Mechanical Transmission,2024,48(06):35-40. DOI： 10.16578/j.issn.1004.2539.2024.06.006.

摘要

构建了全向机器人在斜坡上运动的受力模型，计算出模型系统函数，分析了载重、坡度

、惯性等干扰对系统的影响，提出采用Routh判据为该高阶系统稳定条件，用根轨迹主导极点法获得相似2阶系统，观测系统性能指标，获得最优解方案。仿真验证说明，载重

=3.25 kg时，全向机器人在斜坡运动系统自校正效果较好，表明采用Routh判据+主导极点法研究高阶系统的稳定性可行有效，为后续研究变值

扰动下更高阶系统校正提供了一定参考。

Abstract

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

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

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

关键词

全向机器人Routh判据主导极点法系统稳定性

Keywords

Omnidirectional robotRouth criterionDominant pole methodSystem stability

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