结构与控制系统的一体化设计——柔性臂和控制系统的融合设计

Integrative Design of Machine and Controller: Flexible Beam and Controller Syncretic Design

将结构柔性动力学理论和现代控制理论相结合,以单输入输出的柔性臂控制为例,在机械系统的转动惯量最小化、一阶固有频率最大化和系统暂态响应控制能量最小的多目标评价下,通过柔性臂的结构尺寸、驱动力的作用位置和系统状态反馈的增益等设计变量的融合设计,实现柔性臂机电系统暂态响应等综合性能的提高.提出了对于多刚体多柔体耦合的复杂机电系统设计,应用模态法降低控制器维数,通过融合设计实现机电耦合设计的方法.从复杂的结构、控制系耦合特征出发,提出了结构与控制系统一体化工程设计的实现方法.以传统的结构和控制反复设计为比较对象,证明了此方法对于解决机械结构参数和控制参数之间的强耦合、提高系统综合性能的有效性.

Primary to solve the problem of model coupling between shape of structure and parameters of control system, this thesis focuses on the flexible arm with single-input and single-output as an example. Take the moment of inertia, inherent frequency and control energy as aim to optimize the structure of flexible arm, position of force and parameters of controller, to improve the performance of system. Give the method of design complicate mechanical and control system, reduce the dimension of controller using mode theory, and the model coupling design were proposed. Comparing with the traditional method of design mechanical and controller, it is proved that the integrated performance of the system can be improved. The method of synergetic design of mechanical and controller was proposed, which can be used to resolve the coupling between the parameter of mechanical and parameter of controller.