基于增量耦合预测控制的风电叶片打磨机械臂末端颤振抑制研究  

Chatter suppression at end of a manipulator for grinding wind turbineblade based on incremental coupling predictive control

作　　者：戴士杰[1,2] 成俊 张慧博 王小军[1,2] DAI Shijie;CHENG Jun;ZHANG Huibo;WANG Xiaojun(School of Mechanical Engineering,Hebei University of Technology,Tianjin 300130,China;Hebei Provincial Key Lab of Robot Perception and Human-robot Interaction,Tianjin 300130,China)

机构地区：[1]河北工业大学机械工程学院,天津300130 [2]河北省机器人感知与人机融合重点实验室,天津300130

出　　处：《振动与冲击》2020年第5期235-243,共9页Journal of Vibration and Shock

基　　金：河北省自然科学基金重点项目(F2017202243);中国民航科技重大专项(MHRD20130104)。

摘　　要：针对风电叶片打磨过程中,末端执行器与叶片表面发生刚性接触而引起末端执行器切向颤振问题,提出一种基于力反馈与加速度前馈复合结构的末端执行器增量耦合预测控制方法。在末端执行器柔性驱动单元数学建模的基础上,基于增量耦合动态矩阵预测控制算法对复合PID控制策略进行改进,将不可控但可预知输入加速度作为磨削轴向力预测序列的一部分。同时,在有限时域内采用二次型性能指标最小化的方式对控制目标进行滚动优化,以确保末端执行器与风电叶片表面柔顺接触。仿真及实验结果表明,此方法可以快速地实现末端执行器的切向颤振抑制,并能最大限度地减小因控制时滞、环境时变、模型失配等带来的误差。Aiming at the problem of end-actuator tangential chatter caused by rigid contact between end-actuator and blade surface in process of grinding wind turbine blade,an incremental coupling predictive control method for the end-actuator based on the composite structure of force feedback and acceleration feedforward was proposed.On the basis of mathematical modeling for flexible driving unit of the end-effector,the composite PID control strategy was improved based on incremental coupling dynamic matrix predictive control algorithm.The uncontrollable but predictable input acceleration was taken as a part of prediction sequence of grinding axial force.Meanwhile,the control target was optimized by rolling in finite time domain with minimizing quadratic performance index to ensure flexible contact between end-actuator and wind turbine blade.Simulation and test results showed that the proposed method can quickly realize the end-effector’s tangential chatter suppression,and minimize errors brought by control time delay,environmental time-varying and model mismatch,etc.

关 键 词：颤振抑制 增量耦合 动态矩阵 预测控制 复合PID控制 

分 类 号：TH212[机械工程—机械制造及自动化] TH213.3