多轴进给系统的离散时间自适应鲁棒性调整

The Robust Modulation of Multi-Axis System in Discrete Time

在进给机械系统中,一个轴的惯性力影响着与之接触的其他轴。其他机械部件的接触力,接触面间的摩擦力的量级有着巨大的差异,形成耦合效应。在控制器的设计中考虑到这种耦合效应的存在并克服它,可提升控制效果。因为耦合效应不能提前知释,且大小会因为环境的变化(如温度)而改变,因此设计一个自适应控制器,能对对象的不可预知的模型误差干扰进行鲁棒性整定。一种基于线性矩阵不等式约束鲁棒控制器应用到控制器,并转化为最小化问题,得到优化的解决方案。通过与非鲁棒自适应控制器的对比,误差降低80%,验证了控制器的有效性。

In a mechanical system,an adaptive robust adjust method is put forward. Because the inertia force in one axis affects on other axis connected with it. The magnitudes of frictions between the contact sides are different fiercely, which result in the cause of coupling effect. The coupling effect must be considered and restrained to promote the control effect. An adaptive controller is designed to offer robust adjust for the error disturbance of the unpredictable model. The robust controller is based on linear matrix inequality constrain and can be transformed to minimization problem and get the conclusion. By comparison to the controller without robust adaptive controller,the effect of the new controller is verified.