传动柔性提升机神经网络鲁棒控制及振动抑制  

Neural network robust control and vibration suppressing for elevator with transmission flexibility

作　　者：王志刚[1] 朱畅 郭宇飞[1] Wang Zhigang;Zhu Chang;Guo Yufei(Key Laboratory of Metallurgical Equipment and Control Technology of Ministry of Education, Wuhan University of Science and Technology,Wuhan 430081,China;Hubei Key Laboratory of Mechanical Transmission and Manufacturing Engineering,Wuhan University of Science and Technology,Wuhan 430081,China)

机构地区：[1]武汉科技大学冶金装备及其控制教育部重点实验室,湖北武汉430081 [2]武汉科技大学机械传动与制造工程湖北省重点实验室,湖北武汉430081

出　　处：《武汉科技大学学报》2018年第2期133-139,共7页Journal of Wuhan University of Science and Technology

基　　金：国家自然科学基金资助项目(51605344);中国博士后科学基金资助项目(2016M592398)

摘　　要：为了提高物料提升机的位置控制精度和抗冲击能力,设计一种神经网络鲁棒控制和振动抑制方法。将传动链、谐波驱动装置等传动部件的关节柔性简化为无惯量线性扭(弹)簧并引入物料提升机模型中,利用拉格朗日方法建立系统刚-柔耦合动力学方程。基于奇异摄动理论将系统降阶分解为快、慢两个子系统,并设计混合控制器,其中,表征柔性振动的快变子系统采用关节速度差值反馈来直接抑制振动,而表征刚性运动的慢变子系统则采用基于HJI理论和RBF神经网络的鲁棒控制,通过神经网络对系统参数误差进行自适应调整。仿真结果表明,所设计的控制器能克服系统参数误差及外界扰动的影响,实现物料提升机位置的精确控制,并能有效抑制柔性关节的振动,保持系统的稳定性。In order to improve the position control accuracy and impact resistance of elevator,a neural network robust control and vibration suppression method was proposed.The joint elasticities of the elevator’s transmission chains and harmonic drive devices were simplified as non-inertia linear springs which were imported into the elevator model.The rigid-flexible coupling dynamic equation of the system was established by using Lagrange method.Then,the model was decomposed into two parts,a fast subsystem and a slow one,based on singular perturbation method,and a hybrid controller was designed.For the fast subsystem,which represents the flexible vibration,the controller used the joint’s velocity difference feedback to supress vibration.For the slow subsystem,which represents the rigid motion,a robust control combining HJI theory and RBF neural network was proposed,and the system parameter errors were adaptively adjusted by the neural network.The simulation results show that the designed hybrid controller can overcome the influences of system parameter error and external disturbance,accurately control the elevator’s position and effectively restrain the vibration of elastic joints,maintaining the system stability.

关 键 词：提升机 传动柔性 神经网络 鲁棒控制 振动抑制 奇异摄动法 HJI不等式 

分 类 号：TH212[机械工程—机械制造及自动化]