Fixed-time control and structure joint optimization method and system for four-motor linkage system
A linkage system and fixed time technology, applied in design optimization/simulation, multiple motor speed adjustment, instruments, etc., can solve problems such as low control accuracy and achieve precise control effects
Active Publication Date: 2022-02-01
BEIJING INSTITUTE OF TECHNOLOGYGY
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Problems solved by technology
[0005] However, there is no method in the prior art that can efficiently and reliably obtain the global optimal parameters of the four-motor linkage system, therefore, it cannot really solve the problem of low control accuracy in the four-motor linkage system in the prior art. question
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[0052] The following will clearly and completely describe the technical solutions in the embodiments of the present invention with reference to the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only some, not all, embodiments of the present invention. Based on the embodiments of the present invention, all other embodiments obtained by persons of ordinary skill in the art without making creative efforts belong to the protection scope of the present invention.
[0053] The purpose of the present invention is to provide a fixed-time control and structure joint optimization method and system for a four-motor linkage system, which can efficiently and reliably obtain the global optimal parameters of the four-motor linkage system to achieve precise control of the four-motor linkage system.
[0054] In order to make the above objects, features and advantages of the present invention more comprehensible, the present invention...
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The invention relates to a method and system for joint optimization of fixed time control and structure of a four-motor linkage system. By obtaining the structure coefficient and performance coefficient of the four-motor linkage system; The upper bound of the moment of inertia, the lower bound of the moment of inertia of the motor, the transmission torque, the difference between the transmission torque and the fixed-time control of the four-motor linkage system and the joint optimization of the structure are constraints, and an integrated performance index model is constructed; The optimization algorithm is used to determine the minimum value of the motor's moment of inertia in the integrated performance index model; the motor in the four-motor linkage system is driven and controlled by using the minimum value of the motor's moment of inertia. The fixed-time control and structure joint optimization method and system of the four-motor linkage system provided by the present invention can efficiently and reliably obtain the global optimal parameters of the four-motor linkage system, so as to realize precise control of the four-motor linkage system.
Description
technical field [0001] The invention relates to the technical field of electromechanical control, in particular to a method and system for joint optimization of fixed time control and structure of a four-motor linkage system. Background technique [0002] The multi-motor drive system increases the number of drive motors on the basis of the single-motor drive structure. The drive motor and the load are connected by a gearbox, and a common load is jointly driven by multiple motors. As the pre-design process of the system, the integrated design can provide basis and reference for the selection of relevant components of the system. Such as the selection of the motor model, the stiffness of the transmission device, etc. In a multi-motor system, the size of the load directly reflects the drive capability of the system. The greater the load, the greater the drive torque that needs to be provided by the drive motor; on the contrary, the smaller the inertia of the selected drive mo...
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Login to View More IPC IPC(8): G06F30/20G06N3/00H02P5/46
CPCG06N3/006H02P5/46
Inventor 任雪梅曾添一胡双翼
Owner BEIJING INSTITUTE OF TECHNOLOGYGY