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基于同时设计的柔性机械臂系统建模和控制优化
其他题名Flexible Manipulator System Modeling and Control Optimization based on Concurrent Design
肖志权
学位类型工学博士
导师王飞跃
2004-06-01
学位授予单位中国科学院研究生院
学位授予地点中国科学院自动化研究所
学位专业控制理论与控制工程
关键词同时设计 柔性机械臂系统 建模 模型简化 能量判据 鲁棒控制器 Lmi Concurrent Design Flexible Manipulator System Modeling Model Simplification Energy Criterion Robust Controller Lmi
摘要本文以同时设计在柔性机械臂系统设计中的应用为主题,对系 统进行机电一体化设计与控制。以单连杆柔性机械臂系统为研究实 例,建立系统的动力学模型,进行模型降阶,提出了基于不同控制 策略的同时设计方案,并进行了数值仿真, 本文首次讨论了同时设计与多学科设计优化,并行工程,及结 构和控制一体化设计等的理论相似性,及其各自的特点及异同之处。 将同时设计引入柔性机械臂系统设计中,意味着从总体设计的 角度,对组成柔性机械臂系统的驱动器,柔性机械臂,传感器及控 制器进行综合和整体优化。本文建立了系统同时设计和优化具体应 用的框架。 考虑到柔性机械臂系统同时设计的结果,机械臂梁可能是非均 匀截面梁,因此本文分别采用有限差分法和有限元法建立系统的动 力学模型,模型包含柔性机械臂,传感器和驱动器。 针对采用模态截断法进行模型简化时,如何确定截取的模态数 的问题,本文在建立能量范数的基础上,提出基于能量判掘进行柔 悱机械臂系统的模态截断,其物理意义是以系统简化模型(含不同 的主模态数)与原模型的能量接近程度作为模态截取的一个判定依 据。与基于均衡实现的模态截断方法的比较显示了这种方法的优越 性。 本文提出了两个柔性机械臂同时设计方案,分别采用不同的控 制策略。 基于PID控制器的柔性机械臂同时设计方案,在建立柔性机械 臂系统总体模型的基础上,将系统动念性能指标转化为包含结构、 传感器和PID控制器参数的仇化目标函数,采用改进的遗传算法进 行全局寻优,得到优化的机械臂结构(刚度分布)和控制器参数。 数值仿真表明,优化的PID控制器和优化结构的柔性机械臂结合, 可在一定程度上抑制机械臂柔性振动,但是系统的鲁棒性有待提高。 为提高系统的鲁棒性,本文提出了基于H∞鲁棒控制器的柔性机 械臂同时设计方案。首先根据能量判据,对单连杆柔性机械臂系统 有限元模型进行降阶简化,针对简化的模型设计鲁棒控制器,考虑 系统的未建模动态和扰动等。参数优化设计分为两层,用遗传算法 建立参数寻优的框架。内层求解输出反馈的H∞鲁棒控制器,外层优 化机械臂的结构参数。本文采用基于LMI的方法求解次优反馈输出 H∞鲁棒控制器,避免了求解零极点对消对弱阻尼系统的影响,数值 仿真显示方法的有效性。
其他摘要Major subject of the thesis is an application of concurrent design in flexible manipulator system design, and mechatronic design and control are carried out. A single-link flexible manipulator system is studied as the object investigated. The dynamic modeling, mode reduction, concurrent design based on different strategies, and digital simulations are presented. Owing to the theoretical similarities, concurrent design and Concurrent Engineering(CE), Multidisciplinary Design Optimization(MDO), Structure and Control Integrated Design(CSID), are firstly discussed simultaneously, together with their different and common points. Introducing concurrent design into design of flexible manipulator system, means to synthesize and integrally optimize the whole system including driving mechanism, flexible manipulator, sensors and controller, from the viewpoint of general design. A specific application frame of concurrent design and optimization is set up. Since the optimized flexible manipulator beam after concurrent design may be non-uniform cross-section beam, finite difference method and finite element method are adopted for dynamic modeling the system which contains the flexible manipulator, sensors and driver. To solve the problem of how to define the truncation numbers of system modal while using modal truncation method in model simplification, an energy criterion method based on energy norm is adopted in flexible manipulator system model simplification. The physical meaning is taking the proximity degree of energy between simplified models, which contains different main modals, and full-order model as a criterion of model truncation. Comparisons between this method and the method based on state space balanced realization show its advantages. Two concurrent design schemes on flexible manipulator system are put forward. which adopt different control strategies. One is based on PID controller. First an integral mathematical model of flexible manipulator system is established. Then the dynamic performance index of the system is transformed into optimization objective function, which includes structural, sensor and PID controller parameters. Improved genetic algorithm is used for global parameter optimization and then the optimized manipulator structure (rigidity distribution) and controller parameters are generated. Numerical simulations show that the combination of optimized PID controller and structural optimized flexible manipulator can suppress the tip flexible vibration in some degree. But the robustness of the system needs to be improved. In order to improve system's robustness, a scheme based on H∞ robust controller is presented. According to energy criterion, modal reduction is carried out towards the finite element model of single-link flexible manipulator system. The robust controller is based on the simplified model, considering non-modeling dynamics and some
馆藏号XWLW829
其他标识符829
语种中文
文献类型学位论文
条目标识符http://ir.ia.ac.cn/handle/173211/5818
专题毕业生_博士学位论文
推荐引用方式
GB/T 7714
肖志权. 基于同时设计的柔性机械臂系统建模和控制优化[D]. 中国科学院自动化研究所. 中国科学院研究生院,2004.
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