机械结构/控制系统一体化建模

Integrated Modeling Research of Mechanical Structure and Control System

为了解决机电一体化设计域中,由于将机械/控制系统人为分离成2个独立的设计空间所造成的设计域退化问题,提出了基于虚功方程的结构/控制系统一体化并行设计模型,即从结构和控制系统的动力学虚功方程出发,推导出结构/控制变量共存的一体化动力学模型,并结合结构优化和最优控制相关理论,建立了融合结构/控制变量的一体化优化设计模型.以引线键合机的超声变幅杆为例,以提高系统定位稳定性和响应为目标,通过设计可行域明显拓展和变化的解析解,验证了所设计模型的有效性.结果表明,所建立的设计模型对于极端运动约束要求下的微小机电系统并行设计具有一定的参考价值.

In order to solve the problem of design domain degeneracy because of the man-induced independent separation of mechanical and control system in the electro-mechanical integration, the concurrent design model of structural and control integral system was put forward based upon the virtual work equation. That is, launching out into the dynamics virtual work equation, deducing the dynamics model of the variable concurrent integration, combining with the theories of optimum structure and optimum control, to establish the model of integral optimum design. Taking ultrasonic amplitude bar of wire bonding machine as an instance, aiming at the improvement of location stability and response, the validity was verified in accordance with the analytic solution in the design feasible zone which is under clear continuation and alteration. The design model and outcome cast light on the concurrent design of micro electro-mechanical system which is under the constraint of the extremity action.