复杂机构的控制与结构同步优化设计

Simultaneous optimization of control and structural systems of a complex machine

本文研究了非线性机构控制与结构同步优化设计问题。提出了一种复杂系统敏度分析的数值求解方法,该方法首先通过滑模控制器将非线性动力学方程化简为一个线性微分方程;然后,利用Newmark积分法,获得系统对设计变量敏度的数值解;最后,以Stewart平台为例,介绍了该方法的应用过程。数值结果说明了方法的有效性。

A unified method is presented based on sensitivity of response in this paper for cabined structural and control optimizations of nonlinear mechanical systems. First, simple linear differential equations are used instead of nonlinear dynamical equation of the mechanical system based on sliding mode controller. The derivatives of the system with respect to the design variables are obtained. Then, a stepby-step integration technique is given to obtain numerical calculation of the sensitvity of intergrated optimization of structural and control variables using Newmark method grounded on above linear differential equations. Finally, the process of the algorithm in this paper is introduced by designing the Stewart platform. Simulation results show the validity of the method.