柔性连接双驱龙门在三元控制架构下的前馈控制器参数整定

Parameter Setting of Feed-forward Controller under Three-element Control Architecture of Dual-driven Gantry with Flexible Connection

柔性连接的双驱龙门系统可以有效避免关节应力集中的问题,同时柔性连接与刚性运动之间的耦合作用给系统的运动控制提高了难度。对柔性连接双驱龙门系统在前馈+反馈+干扰观测器三元控制架构下的前馈控制器参数整定进行研究,提出基于数据驱动的控制器参数优化方法,在系统模型未知的情况下,通过测量系统的输入输出数据,离线优化控制参数。根据柔性连接双驱龙门系统的控制架构,提出一种基于误差的控制性能指标函数,求解代价函数相对于待优化的控制器参数的梯度形式。基于梯度解析式,结合柔性连接双驱龙门系统的传递函数,合理设计梯度试验,通过测量闭环试验输入输出数据的方式,进行梯度的无偏估计。基于误差相对于控制器参数的无偏估计,求解黑塞矩阵,合理设计迭代更新步长,通过牛顿法迭代更新控制器参数,并证明在一定条件下估计的梯度具有无偏性。通过MATLAB/Simulink软件仿真,验证了梯度试验设计的合理性和迭代反馈整定方法在柔性连接双驱龙门系统中应用的有效性。

The dual-driven gantry system with flexible connection can effectively avoid the problem of joint stress concentration,and the coupling between flexible connection and rigid motion increases the difficulty of motion control of the system.The parameter setting of feed-forward controller under the three-element control architecture of feed-forward+feedback+interference observer of dual-driven gantry system with flexible connection was studied,and the controller parameter optimization method based on data-driven was proposed,and the control parameter was optimized offline by measuring the input and output data of the system when the system model was unknown.According to the control architecture of the dual-driven gantry system with flexible connection,a control performance index function based on error was proposed to solve the gradient form of the cost function relative to the controller parameter to be optimized.Based on the gradient analytical formula,combined with the transfer function of the dual-driven gantry system with flexible connection,the gradient test was reasonably designed,and the gradient was estimated unbiased by measuring the input and output data of the closed-loop test.Based on the unbiased estimation of error relative to the controller parameter,the Hessian matrix was solved,the iterative update step size was reasonably designed,the controller parameter was iteratively updated by Newton method,and it was proved that the gradient estimated under certain condition was unbiased.Through MATLAB/Simulink software simulation,the rationality of the gradient experimental design and the effectiveness of the iterative feedback setting method in the dual-driven gantry system with flexible connection were verified.