面向虚拟装配的混杂系统建模和控制器设计  

Modeling and Controller Design of Hybrid Systems Oriented to Virtual Assembly

作　　者：程曙[1] 张浩[2] 

机构地区：[1]同济大学电子与信息工程学院,上海200092 [2]上海电力学院电力系统与自动化工程学院,上海200090

出　　处：《控制与决策》2006年第3期271-275,共5页Control and Decision

基　　金：中德政府合作项目(2002DFG00027)

摘　　要：针对装配的动态过程显著地表现出连续与离散共存的混杂特性,研究了面向虚拟装配的混杂系统建模以及控制器设计方法.提出了混杂基本结构对应于单个装配对象的建模方法,有效地避免了由于装配零部件过多给模型造成的复杂性.并在此基础上,运用最小干预安全控制器对装配过程中的不合法结构实施控制.最后以某汽车底盘总装中两个装配对象为例,给出了具体的动态描述及其建模和控制器设计,证明了该方法的可行性和有效性.Considering the hybrid nature of assembly dynamic process where continuity and discreteness coexist, the problems of modeling and controller design of hybrid system oriented to virtual assembly are researched. Modeling method corresponding hybrid elementary structure to each assembly object is proposed. The complexity of model caused by the plurality of assembly components can be effectively avoided. Based on that minimally interventive legal controller is designed to exert control over the illegal configurations in the assembly process. All possible assembly paths can be minimally constrained. Finally, the feasibility and efficacy of the model and control algorithms are illustrated via an example of two assembly objects in car final assembly.

关 键 词：混杂系统 虚拟装配 建模 最小干预安全控制器 

分 类 号：TP13[自动化与计算机技术—控制理论与控制工程]