一种基于控制参数化的双连杆机械臂最优PID参数整定方法  

A Control-Parametrization-Based Optimal PID Tuning Method for a Two-Link Manipulator

作　　者：郭小龙 郭敏华 谭元 曹函宇 佃松宜[1] 李彬 GUO Xiaolong;GUO Minhua;TAN Yuan;CAO Hanyu;DIAN Songyi;LI Bin(College of Electrical and Information Technology,Sichuan University,Chengdu 610065,China;;Sichuan Institute of Aerospace Electronics,Chengdu 610100,China)

机构地区：[1]四川大学电气信息学院,成都610065 [2]四川航天电子设备研究所,成都610100

出　　处：《空间控制技术与应用》2018年第5期70-75,共6页Aerospace Control and Application

基　　金：国家自然科学基金资助项目(61701124)~~

摘　　要：考虑一类双连杆机械臂的PID控制问题,提出一种基于控制参数化的最优PID参数整定方法.首先,把系统的性能指标建模为最优控制中的连续状态不等式约束.其次,将双连杆机械臂的最优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.然后,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.得到一个标准的最优参数选择问题,且这个标准问题可以用最优控制软件MISER 3.2来求解.由于是基于梯度的方法来求解问题,所以在文中推导了代价函数和经过处理后约束的梯度公式.最后,通过数值仿真验证了提出的方法的有效性.A control-parametrization-based optimal PID tuning scheme for a two-link manipulator is developed in this paper.The performance specifications of the control system are modelled as continuous state inequality constraints.Then,the PID optimal tuning of the two-link manipulator can be formulated as an optimal parameter selection problem subject to continuous inequality constraints.These continuous inequality constraints are handled by the constraint transcription method together with a local smoothing technique.In such a way,the transformed problem becomes an optimal parameter selection problem in canonical form,which can be solved via the optimal control software MISER 3.2.Considering that the proposed approach is designed based on the gradient-based method,the corresponding gradient formulas for the cost function and constraints are derived.The effectiveness of the proposed method is illustrated by the numerical examples.

关 键 词：连续状态不等式约束 最优PID参数整定 双连杆机械臂. 

分 类 号：V412.41[航空宇航科学与技术—航空宇航推进理论与工程]