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Control system parameter tuning method applicable to hybrid mechanism

A technology of control system and hybrid mechanism, applied in general control system, control/regulation system, adaptive control, etc., can solve the problems of low efficiency trial and error, low movement precision of mechanism, and failure to consider the dynamic characteristics of mechanism, etc. Achieve a wide range of applications and improve the effect of motion accuracy

Active Publication Date: 2017-11-24
TSINGHUA UNIV
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Problems solved by technology

[0005] The purpose of the present invention is to provide a control system parameter setting method applied to the hybrid mechanism, which is mainly used to solve the low efficiency and repeated trial and error existing in the existing commercial controller debugging method, without considering the dynamic characteristics of the mechanism, which eventually leads to The problem of low movement precision of the mechanism

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  • Control system parameter tuning method applicable to hybrid mechanism
  • Control system parameter tuning method applicable to hybrid mechanism
  • Control system parameter tuning method applicable to hybrid mechanism

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Embodiment Construction

[0059] Below in conjunction with accompanying drawing and specific embodiment the present invention is described in further detail:

[0060] figure 1 A flow chart of a control system parameter setting method applied to a hybrid mechanism provided by the present invention, the control system

[0061] The control system includes two parts, a closed-loop feedback controller and a feed-forward compensator, wherein the closed-loop feedback controller includes a current loop controller, a speed loop controller and a position loop controller, and the speed loop controller adopts a proportional-integral controller or Proportional-integral-derivative controller, the position loop adopts proportional controller. Feed-forward compensators include velocity feed-forward compensators and acceleration feed-forward compensators (see figure 2 ).

[0062] The method comprises the steps of:

[0063] 1) The control parameters of the closed-loop feedback controller are adjusted by the enginee...

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Abstract

The invention discloses a control system parameter tuning method applicable to a hybrid mechanism, which mainly relates to a parameter tuning method for a control system formed by a closed-loop feedback controller and a feedforward compensator. In the method, after parameters of the closed-loop feedback controller are designed, the feedforward compensator is adopted to compensate errors of closed-loop feedback control. Equivalent analysis is carried out on the feedforward compensator, and three parts of an acceleration term, a velocity term and a position term are decomposed. In view of two conditions of a solvable dynamic equation mechanism and an unsolvable dynamic equation mechanism, corresponding parameter design methods are given. In the first condition, the control parameters are designed based on a mapping relationship between a dynamic model and the feedforward compensator, and higher control precision can be acquired. In the second condition, a best fitting curve method is adopted to design the control parameters, the control precision is little different from that in the first condition, the method can be applied to a mechanism which can not solve the dynamic model, and the method has a more practical meaning.

Description

technical field [0001] The invention relates to a control system parameter setting method applied to a hybrid mechanism, in particular to the parameter design problem of a control system composed of a closed-loop feedback controller and a feedforward compensator, and belongs to the technical field of electromechanical control. Background technique [0002] The hybrid mechanism is a new type of mechanism that combines the series mechanism and the parallel mechanism. It has the advantages of large working space and simple structure of the series mechanism, and has the advantages of good dynamic performance, no accumulation error, and large stiffness-to-mass ratio of the parallel mechanism. However, when the hybrid mechanism moves in a large working space, its inertia will fluctuate greatly, resulting in significant changes in the dynamic load of each drive shaft. At the same time, due to the highly nonlinear and coupled nature of the dynamic characteristics of the hybrid mecha...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G05B13/04
CPCG05B13/042
Inventor 吴军王立平张彬彬王冬
Owner TSINGHUA UNIV