柔性摆臂系统位置IP运动控制策略研究

Research of Position IP Motion Control Strategy of Flexible Swing Arm System

摆臂系统具有结构柔性、惯量时变等特性,其高速高精的运动性能直接影响装备的运行效率与定位精度。为获得满意的位置控制性能,提出一种无模型柔性摆臂系统运动控制策略。该策略采用IP控制器对柔性摆臂系统进行位置控制,可以减小位置超调,提高摆臂系统的抗干扰能力;利用虚拟参考反馈校正方法,在不用辨识系统模型的情况下整定IP控制器参数。实验结果表明:该策略改善了系统位置动态性能,控制精度高、抗扰动能力强,比常规PI控制效果好。

The swing arm system has some unique characteristics, such as flexible structure and time-varying inertia. The high speed and high precision motion performance of swing arm system will directly influence the efficiency and accuracy of the electronic equipment. In order to obtain satisfied position control performance, a model-free control strategy is proposed for flexible swing arm system. In this strategy, IP controller is adopted for the position control to decrease overshoot and strengthen anti-disturbances ability. Then, the parameters of IP controller can be calculated through virtual reference feedback tuning with no need for mathematic model of the system. The experimental results indicate that the proposed method processes better position dynamic performances, higher control precision and stronger anti-disturbances ability compared to traditional PI controller.