基于<i>H</i><sub>∞</sub>优化抗扰控制的柔性机械臂振动抑制 -- 西北工业大学学报,2017,35(4):661-668
论文:2017,Vol:35,Issue(4):661-668
引用本文:
张晓宇, 王润孝, 王战玺, 张顺琦, 秦现生, 谭小群. 基于H优化抗扰控制的柔性机械臂振动抑制[J]. 西北工业大学学报
Zhang Xiaoyu, Wang Runxiao, Wang Zhanxi, Zhang Shunqi, Qin Xiansheng, Tan Xiaoqun. Vibration Suppression of Piezoelectric Integrated Flexible Manipulators Using H Optimized Disturbance Rejection Control[J]. Northwestern polytechnical university

基于H优化抗扰控制的柔性机械臂振动抑制
张晓宇1, 王润孝1, 王战玺1, 张顺琦2, 秦现生1, 谭小群1
1. 西北工业大学 机电学院, 陕西 西安 710072;
2. 上海大学 机电工程与自动化学院, 上海 200072
摘要:
针对受未知扰动和建模误差影响的压电柔性机械臂系统,提出并开发了一种H优化的抗扰控制算法并将其应用于压电柔性机械臂的振动抑制。运用有限元法建立了压电柔性机械臂的机电耦合动力学模型及状态空间模型。使用由阶跃函数构成的扰动模型,构造了比例积分(PI:proportional integral)扰动观测器。基于H优化方法,并应用S/T混合灵敏度和区域极点配置分别计算了扰动观测器和抗扰控制器的反馈增益,保证了观测器与控制器的动态性能和鲁棒性。通过压电柔性机械臂振动抑制仿真,验证了H优化抗扰控制算法抑制未知扰动所致振动的有效性和对系统模型误差的鲁棒性,并与使用通用比例积分(GPI:generalized proportional integral)观测器的抗扰控制算法进行了比较。
关键词:    抗扰控制    柔性机械臂    振动抑制    H优化   
Vibration Suppression of Piezoelectric Integrated Flexible Manipulators Using H Optimized Disturbance Rejection Control
Zhang Xiaoyu1, Wang Runxiao1, Wang Zhanxi1, Zhang Shunqi2, Qin Xiansheng1, Tan Xiaoqun1
1. School of Mechanilcal Engineering, Nothwestern Polytechnical University, Xi'an 710072, China;
2. School of Mechatronic Engineering and Automation, Shanghai University, Shanghai 200444, China
Abstract:
For piezoelectric integrated flexible manipulator systems influenced by unknown disturbances and modelling errors, a H optimized disturbance rejection control is developed and applied to vibration suppression of piezoelectric integrated flexible manipulators in this paper. Firstly, the electro-mechanically coupled dynamic model and state space model of the flexible manipulator are built using finite element method. Secondly a Proportional Integral (PI) disturbance observer is constructed using a disturbance model composed of step functions. Subsequently, based on the H optimization theory, the feedback gains of the observer and controller are calculated employing S/T mixed sensitivity and regional pole placement method respectively, by which the dynamic performance and robustness of the closed-loop systems are ensured. Lastly, through vibration suppression simulations of piezoelectric integrated flexible manipulators, the H optimized disturbance rejection control is validated and compared with disturbance rejection control with Generalized Proportional Integral (GPI) observer, in the aspects of suppressing vibrations caused by unknown disturbances and robustness to modelling errors.
Key words:    disturbance rejection control    flexible manipulator    vibration suppression    H optimization   
收稿日期: 2017-03-01     修回日期:
DOI:
基金项目: 国家自然科学基金(51505380、51475373、51375390)、机械结构力学及控制国家重点实验室开放课题(MCMS-0517G01)与111引智计划(B13044)资助
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作者简介: 张晓宇(1987—),西北工业大学博士研究生,主要从事智能结构振动控制及机器人振动控制研究。
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