摘要
提出了一种基于控制参数化方法的柔性关节机械臂的最优PID参数整定方法.首先,将柔性机械臂的性能指标建模为连续状态不等式约束.然后,将柔性关节机械臂的最优PID参数整定问题转化为含连续状态不等式约束的最优参数选择问题.应用约束转录法结合局部平滑法来处理连续状态不等式约束,从而将含连续状态不等式约束的最优参数选择问题转化为一个标准的可以优化软件包求解的非线性规划问题.最后,通过数值仿真验证了本文提出的方法的有效性.
A control parameterization-based optimal PID tuning scheme for flexible joint manipulator is developed in this paper.The performance specifications of the control system are modeled as continuous state inequality constraints.Then,the optimal PID tuning problem can be formulated as an optimal parameter selection problem subject to continuous inequality constraints.These continuous inequality constraints are tackled by the constraint transcription method with a local smoothing technique.In such a way,the transformed problem becomes a standard nonlinear program,which can be solved via standard optimization software packages.The effectiveness of the proposed method is illustrated by some numerical examples.
作者
吴昊
郭小龙
谭元
毛新涛
WU Hao;GU0 Xiaolong;Tan Yuan;MAO Xintao(China Aerospace Academy of System Science and Engineering,Beijing 100037,China;Beijing Institute of Control Engineering,Beijing 100094,China;College of Electrical and Information Technology,Sichuan University,Chengdu 610065,China;Beijing Sunwise Space Technology Ltd,Beijing 100190,China)
出处
《空间控制技术与应用》
CSCD
北大核心
2019年第1期27-31,38,共6页
Aerospace Control and Application
关键词
柔性关节机械臂
最优PID参数整定
控制参数化方法
flexible joint manipulator
optimal PID parameters tuning
control parameterization method
