摘要
为了提高柔性关节机械结构力学分配和自动控制能力,提出一种基于阻尼衰减的柔性关节机械结构解耦控制方法,构建柔性关节机械结构的力学分配模型,采用线性解耦方法进行柔性关节机械结构的关节稳定位置调节,采用模糊自适应参数反馈修正方法进行机械机构阻尼单元和弹簧单元的力学参数分配和误差修正,在阻尼衰减下进行柔性关节机械结构解耦控制律设计,以动态变化的稳定域为柔性关节机械结构的可靠性控制价约束条件,获取全局最优解,实现柔性关节机械结构解耦控制优化.仿真结果表明,采用该方法进行柔性关节机械结构解耦控制的稳定性较高,自适应性能较好,提高了柔性关节机械结构的力学自动分配能力.
In order to improve that mechanical distribution and the automatic control ability of the flexible joint mechanical structure,a flexible joint mechanical structure decoupling control method based on the damping attenuation is proposed,and a mechanical distribution model of the flexible joint mechanical structure is constructed,the mechanical parameter distribution and the error correction of the mechanical mechanism damping unit and the spring unit are carried out by adopting a linear decoupling method to adjust the joint stable position of the flexible joint mechanical structure.In that design of the decoupling control law of the flexible joint mechanical structure under the damping attenuation,the dynamic stable domain is the reliability control price constraint condition of the flexible joint mechanical structure,the global optimal solution is obtained,and the decoupling control optimization of the flexible joint mechanical structure is realized.The simulation results show that the stability of the flexible joint mechanical structure decoupling control is high,the self-adaptive performance is good,and the mechanical automatic distribution capability of the flexible joint mechanical structure is improved.
作者
严继超
YAN Jichao(Huali College,Guangdong University of Technology,Guangzhou 511325,China)
出处
《智能计算机与应用》
2019年第4期267-270,共4页
Intelligent Computer and Applications
关键词
阻尼衰减
柔性关节
机械结构
解耦控制
damping attenuation
flexible joint
mechanical structure
decoupling control
