混合驱动机械系统在考虑速度波动情况下的重新规划

Kinematic Replaning of a Hybrid-driven Mechanism Under Speed Fluctuation

混合驱动机械系统是一种机电混合系统,同时具有高承载能力、高效率和适度柔性的优点。为降低机电系统的制造成本和控制难度,采用不可控的三相交流电机作为混合驱动机械系统的主电机,考虑交流电动机的速度波动,采用合理的方法预测两台电机的理想角位移和角速度,以之作为控制目标进行离线动力学仿真,使主副曲柄在每个周期保持固定的相位关系。以一种二自由度七杆混合驱动机械系统为例做了动力学分析。分析结果表明,在采用不可控交流电机提供系统主要的扭矩和运动时,运用预报校正方法,将求解机电系统动力学方程与预测控制的期望值相结合,可以保证主曲柄和副曲柄之间由运动学规划得到的理想相位关系,从而实现了简化系统控制,降低制造成本的目标。

The hybrid-driven mechanism is electron-mechanism system. Not only has it advantages of classical mechanical system, but also is controllable and has great flexibility, It adopts the uncontrollable AC. motor as the main motor to driven the mechanism. Considered the velocity fluctuation of the main motor, the off-line dynamic simulation result was obtained with the ideal angular displacement and angular velocity of the motors which were predicted by the prediction-correction method, According to the dynamic simulation result of one kind of two degrees-of-freedom seven- linkage hybrid-driven mechanism, the fixed phase relation between the main crank and the assistant crank are maintained in each cycle.