A liquid slosh model reference adaptive suppression motion control method
A technology of liquid sloshing and model reference, applied in the direction of adaptive control, general control system, control/regulation system, etc., can solve problems such as difficulty in measuring liquid state information, influence on system stability, and influence on system control performance, and achieve liquid slosh The effect of suppressing energy utilization rate, improving energy utilization rate, and simple system structure
Active Publication Date: 2021-09-28
ZHEJIANG UNIV
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Problems solved by technology
[0003] The sloshing of the liquid in the open liquid storage container will not only affect the stability of the system, but also seriously affect the accuracy of the system response, work efficiency and the safety of the production site, etc.
In a large number of existing technologies, liquid sloshing suppression needs to use the liquid state information for feedback control or use input shaping technology, command smoother, etc. to shape the input signal to suppress liquid sloshing, but the measurement of liquid state information is very difficult. Shaping techniques or command smoothers will increase the response time of the system and are not easy to apply to the underlying closed-loop control
In addition, there are many nonlinear, unmodeled dynamics and disturbances in the system that will affect the control performance of the system
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[0049] Select the motion scheme of the liquid sloshing suppression experimental platform during the motion to establish a simulation model, and carry out technical methods in the MatlabSimulink simulation environment, such as figure 1 As shown, in the equivalent mechanical model assuming liquid sloshing, the equivalent pendulum mass m=0.0223kg, the equivalent cycloid length l=0.073m, the coefficient c=-0.01, and the gravitational acceleration is g=9.8m / s 2 , the desired displacement y of the reservoir r =0.5m, the system state space expression of the equivalent mechanical model is as follows:
[0050]
[0051] According to the linear quadratic optimal control method, comprehensively considering its fast and accurate response, liquid slosh suppression and energy utilization improvement, etc., the weight matrix of the system state error vector is Q'=diag(220,20,200,20) , the weight matrix R of the system input vector is an identity matrix, so that the cost function To obta...
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The present invention relates to the field of motion control, in particular to a liquid sloshing model reference adaptive suppression motion control method, comprising the following steps: first constructing an equivalent mechanical model of liquid sloshing in the motion process and its state space expression; then based on the linear quadratic Based on the type optimal control method, a reference model is established; finally, the liquid sloshing suppression model is designed to refer to the adaptive control law, so that the response of the controlled object can quickly track the response of the reference model, and the liquid sloshing can be suppressed. The method of the present invention has the advantages of simple system structure, easy implementation, and can be applied to most underactuated systems without establishing an accurate sloshing dynamics model of the liquid in the liquid storage container, while ensuring fast response and not requiring feedback of liquid state information. Suppress liquid sloshing and realize multi-objective optimization in the process of carrying liquid storage containers, including the advantages of fast and accurate response, liquid sloshing suppression and improved energy utilization.
Description
technical field [0001] The invention relates to the field of motion control, in particular to a liquid sloshing model reference adaptive suppression motion control method. Background technique [0002] The movement or packaging of open liquid storage containers in the food, chemical and metallurgical industries is a very important industrial process. On the liquid filling production line, the movement of the conveying device will cause the liquid to sway, and even cause the package to roll over and affect the production efficiency, and the sloshing of the liquid will cause the splash of the liquid to affect the sealing of the package, which will have a negative impact on production. In the metallurgical industry, the high-temperature molten iron must be kept stable during the moving process to avoid the splashing of the molten iron during transportation and pose a threat to production safety. In the current increasingly competitive industrial scene, industrial robots are sp...
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IPC IPC(8): G05B13/04
CPCG05B13/042
Inventor 王进杨鹏程张海运翟安邦戚仁杰陆国栋
Owner ZHEJIANG UNIV