基于力矩前馈的体育机械驱动力控制方法研究  

Research on driving force control method of sports machinery based on torque feedforward

作　　者：耿林 杨茜[2] GENG Lin;YANG Qian(Xi’an University of Technology,Xi’an 710048,China;Northwestern Polytechnical University,Xi’an 710072,China)

机构地区：[1]西安理工大学,西安710048 [2]西北工业大学,西安710072

出　　处：《自动化与仪器仪表》2021年第8期143-146,150,共5页Automation & Instrumentation

基　　金：陕西省体育局2020年常规课题:陕西省学生体质健康问题综合干预研究(No.2020346)。

摘　　要：体育机械各组件结构具有一定差异性,不同位置对驱动负载的需求不同。由于现有机械驱动力控制方法对负载补偿的估算不准确,导致驱动力偏差消除率较低,基于力矩前馈设计体育机械驱动力控制方法。根据运动跟踪控制需求,提出解析策略,计算出控制层输入力矩;基于力矩前馈,匹配输出点与参考点的期望轨迹,输出机械驱动力补偿负载;考虑机械负载约束条件,建立机械驱动力分配控制模型,求解出运行参数下机械力矩的数值。实验结果:设计的驱动力控制方法可有效补偿驱动负载,与现有控制方法相比,偏差最大值消除率增加了26.27%和22.94%,偏差平均值消除率增加了36.65%和32.82%,证明本次设计的机械驱动力控制方法能够更好地抑制驱动力偏差峰值,提升控制跟随精度,从而改善机械控制性能。There are some differences in the structure of each component of sports machinery.Different positions have different requirements for driving load.Due to the inaccurate estimation of the load compensation in the existing mechanical driving force control methods,the elimination rate of the driving force deviation is low.The driving force control method of sports machinery is designed based on torque feedforward.According to the requirements of motion tracking control,an analytical strategy is proposed to calculate the input torque of the control layer;based on the torque feed-forward,the desired trajectory of the output point and the reference point is matched,and the mechanical driving force is output to compensate the load;considering the constraint conditions of the mechanical load,the mechanical driving force distribution control model is established,and the numerical value of the mechanical torque under the operation parameters is solved.The experimental results show that the designed driving force control method can compensate the driving load effectively.Compared with the existing control methods,the elimination rate of the maximum deviation value increases by 26.27%and 22.94%,and the elimination rate of the deviation average value increases by 36.65%and 32.82%.It is proved that the designed mechanical driving force control method can better restrain the peak value of driving force deviation,improve the control tracking accuracy,and improve the mechanical control performance.

关 键 词：力矩前馈 体育机械 驱动力控制 补偿控制 

分 类 号：TH134[机械工程—机械制造及自动化]