柔性机械手结构/控制融合设计

Integrated Design of Structure and Control of Flexible Manipulator

针对柔性机械手的设计性能要求 ,以单臂机械手为例 ,讨论了基于系统性能配置的结构 /控制融合设计方法 .根据控制系统超调量σp 和调整时间ts 的要求 ,配置闭环控制传递函数极点的可行区域 .在此基础上 ,把柔性结构动力学和控制理论相结合 ,建立了包含结构参数和控制参数的性能配置优化模型 ,并以系统的转动惯量和控制能量指标为目标函数对机电设计参数进行了优化 .

In this paper, the integrated optimal design methodology of mechanical and control system is discussed with regard to the performance requirement and configuration of flexible manipulator. In terms of percent overshoot orp and the settling time t,, the viable region of poles of the closed-loop transfer function is decided. Then, by the combination of dynamics of flexible structure and control theory, the optimum model including structure and control parameters is proposed. Finally, the objective function, which contains the moment of inertia and the control effort of system, is optimized.