高速弹性连杆机构振动的预测函数主动控制

应用带实时预测误差修正的预测函数控制方法对高速弹性连杆机构的振动响应进行主动控制研究.根据机构的动态特性,选取系统变形响应的参考轨迹、基函数、优化指标和电压约束条件,通过优化基函数的加权系数,得到结构化的控制电压,对机构进行控制.仿真结果与最优极点配置控制结果比较,表明采用简单的被控机构模型设计预测函数控制器对高速弹性连杆机构振动进行主动控制,能够有效地抑制弹性机构的振动,所需控制电压小,且能够满足控制实时性要求.

A Predictive Function Active Control Applied to Suppressing the Vibration Responses of Elastic Linkage Mechanisms of High Speed

The paper first applies the predictive function control(PFC) law to deal with the vibration active control of elastic linkage mechanisms of high speed by using the system discrete state-space equation. The reference track、base functions and constrain condition of voltage are chosen according to the characteristic of the dynamic responses of mechanism and actuator material. Through optimizing weight coefficients of base functions, the output control voltage is reached. The simulation results indicate that the PFC based on the simple model is effective for reducing the vibration amplitude of elastic linkage mechanisms of high speed,the maximum feedback control voltage required in the PFC is further reduced as compared to the optimal pole assignment control law. Meantime it can satisfy the real-time demand.