相互关联刚性结构位置与力的专家协调控制

Expert Coordinating Control of Position/Force for Interconnected Rigid Structures

近年来在航空、航天、机器人控制系统的应用研究中,以相互关联刚性结构为特征的系统的协调控制研究机会正在日益增多,在这些领域中,不仅需要解决各个结构部件诸如点一点控制、旋转控制、跟踪、力控制等问题,还需要解决多个结构部件相互关联下的协调控制问题。基于这类系统的复杂性和实际意义,文献[1]中把这类系统的控制问题做为今后若干个具有发展前景的研究方向之一。本文所研究的变后掠机翼性能试验协调控制系统由三个相互关联的刚性结构组成,按其控制任务划分,它们分别是力控制子系统,角度旋转控制子系统,跟踪角度变化的悬臂吊梁位置控制子系统,如图2所示。考虑到系统存在部分未建模,只有输出信号可以观测等不利因素,本文作者提出了一种简单易行的实时专家协调控制的方案,该方案通过近一年的连续试验考核,证明了其有效性和正确性。文中提供了协调运行的结果,其中,悬臂吊梁对变后掠机翼实现了无波纹跟踪,对位置的稳志跟踪精度达到了0.3%的性能要求。

In 1988, a very authoritative report found that the control problem of in-terconnected rigid structures belongs to one of a number of promising subfieldsin control theory[1]. This paper studies a system consisting of three intercon-nected rigid structures: force control subsystem, angular rotating control subsy-stem, and angular tracking control subsystem (Fig.2). After surmounting greatdifficulties, the authors succeed in obtaining an expert coordinating controllerin real time. This controller is used in testing a full-scale variable-sweep air-craft wing. The experimental results are very good, particularly those of theangular tracking control subsystem. The input and output curves are almostindistinguishable in Fig.6; they become distinguishable only when the figureis considerably enlarged.