Machinery-control integrated-design method based on prediction model and fast disturbance elimination
A design method and mechanical control technology, applied in the direction of adaptive control, general control system, control/regulation system, etc., can solve problems such as inability to deal with model uncertainty and disturbance
Active Publication Date: 2018-09-04
GUANGDONG UNIV OF TECH
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[0008] In order to solve the problem that the existing technology can only deal with the definite system and cannot deal with the situation when the system has model uncertainty and disturbance, the present invention draws on the idea of active disturbance rejection control and the fast convergence design criterion of the iterative method in mathematics, and proposes a A design method of mechanical control integration
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[0030] The accompanying drawings are for illustrative purposes only, and should not be construed as limitations on this patent; in order to better illustrate this embodiment, certain components in the accompanying drawings will be omitted, enlarged or reduced, and do not represent the size of the actual product; for those skilled in the art It is understandable that some well-known structures and descriptions thereof may be omitted in the drawings. The positional relationship described in the drawings is for illustrative purposes only, and should not be construed as a limitation on this patent.
[0031] Such as figure 2 As shown, adopting the idea of the present invention, the steps of the design method based on mechanical control integration in the present invention include:
[0032] 1) Establish a system dynamics model with uncertainty, and the uncertainty part is expressed as an estimate;
[0033] 2) Perform parametric design on the determined part of the controlled ob...
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The invention provides a machinery-control integrated-design method. The method comprises: first establishing an initial model of a controlled object, and considering an estimation of an undeterminedpart as disturbance; carrying out parametric design on determined parts of the controlled-object model to obtain a parametric model; further truncating and simplifying the controlled-object model according to dynamic response features of the object model and a control target requirement to obtain an approximate model to use the same as a prediction model; measuring system status, establishing a control performance judgment criterion, and calculating difference from a calculation result of the prediction model to obtain the system total-disturbance; designing a total-disturbance elimination link according to the order of the prediction model to construct a completed active disturbance rejection controller; and using of control performance optimization as an objective to simultaneously optimizing parameters of a machinery system and the active disturbance rejection controller to realize machinery-control integrated-design.
Description
technical field [0001] The present invention relates to the technical field of mechatronics, and more specifically, relates to a design method of mechanical control integration. Background technique [0002] In the field of mechatronics, after the mechanism has been comprehensively determined to realize the function, it usually needs to go through several links such as structural design, control system design and motion planning to realize the final requirements of the mechatronic system. These links are often completed by different engineers, lacking a unified method. In addition, each design field is limited by the constraints of other fields, and can only obtain local optimal solutions. With the improvement of the comprehensive performance requirements of electromechanical products such as precision and speed, the traditional method has entered the limit. Whether there is a unified method to achieve the global optimal solution of mechatronics equipment has become a new ...
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IPC IPC(8): G06F17/50
CPCG06F30/17G06F30/20G05B13/048
Inventor 杨志军何耀滨陈新白有盾
Owner GUANGDONG UNIV OF TECH