基于Hybrid方法的大型冗余驱动机构控制策略研究

项目名称： 基于Hybrid方法的大型冗余驱动机构控制策略研究

项目编号： No.51205392

项目类型： 青年科学基金项目

立项/批准年度： 2013

项目学科： 机械工程学科

项目作者： 沈刚

作者单位： 中国矿业大学

项目金额： 25万元

中文摘要： 本项目以振动力学试验中的大型冗余驱动机构的典型装置-电液振动台为研究对象，开展基于Hybrid方法的大型冗余驱动机构控制策略研究。针对电液振动台系统频宽较低、参考信号跟踪精度较差问题，综合运用液压传动、系统辨识、零相差跟踪、内模控制等理论，建立大型冗余驱动机构的非线性仿真模型，研究自适应辨识算法并辨识基于参数模型的伺服系统传递函数，设计非最小相位系统的稳定逆模型并实现前馈补偿控制，提出改进的内模控制以降低模型偏差对跟踪精度的影响；研究自适应控制算法在大型冗余驱动机构中的收敛速度及稳定性，提出基于伺服系统、前馈逆模型补偿控制和自适应控制相结合的Hybrid控制策略，设计Hybrid的无缝切换控制器，解决切换过程中可能发生的突变行为对系统稳定性造成的影响，实现稳定可靠的Hybrid控制，提高参考信号跟踪精度，为大型冗余驱动机构控制系统的研究提供重要的基础理论支持。

中文关键词： 电液振动台；Hybrid控制；自适应逆控制；系统辨识；前馈补偿控制

英文摘要： A large electro-hydraulic shaking table based on the Hybrid control strategy is theoretically studied and experimentally verifed, which is the typical device of the large redundant control mechanisms that is widely used in vibration mechanics tests. In order to improve the expected signal tracking accuracy and to extend the system frequency bandwidth, a nonlinear simulation model of the larger redundant control mechanism is established, a transfer function of the servo system based on the parameter model is adaptively identified, a stable inverse model of the estimated nominimum phase system transfer function is designed to realize the feed-forward compensation control，an improved internal model control is proposed to reduce the influences of the tracking accuracy caused by estimated and designed modeling error, in which some important theories such as hydraulic transmission, system identification, zero phase error tracking control, internal model control, etc, are studied in the project. In order to further improve the tracking accuracy, the convergence rate and stability of an adaptive control is also investigated in the large redundant control mechanisms. A hybrid control method is proposed by combing advantages of servo control, feed-forward offline compensation and online adaptive control, and a bumpless t

英文关键词： Electro-hydraulic shaking table；Hybrid control；Adaptive inverse control；System identification；Feed-forward compensation