参数快速自适应的电动注塑机的期望补偿自适应鲁棒控制  

Expected Compensation Adaptive Robust Control of Electric Injection Molding Machine with Fast Parameter Adaptation

作　　者：李绍钻 周宏伟 邬惠峰[1] 廖建锋 LI Shaozuan;ZHOU Hongwei;WU Huifeng;LIAO Jianfeng(School of Computing,Hangzhou Dianzi University,Hangzhou 310018,China;Tederic Machinery Co.,Ltd.,Hangzhou 310018,China;Intelligent Robotics Research Center,Hangzhou 311215,China)

机构地区：[1]杭州电子科技大学计算机学院,浙江杭州310018 [2]泰瑞机器股份有限公司,浙江杭州310018 [3]智能机器人研究院,浙江杭州311215

出　　处：《控制工程》2024年第5期806-814,共9页Control Engineering of China

基　　金：浙江省重点研究计划项目(2020C01031)。

摘　　要：为了提高电动注塑机模具控制精度和稳定性,首先,针对由齿轮和滚珠丝杆结构组成的模具控制部分,建立了非线性动态模型。随后,提出了一种期望补偿自适应鲁棒控制器(desire compensate adaptive robust control,DCARC)。将参数估计过程和鲁棒控制律的设计分开,以提供更好的参数估计,并引入基于随机梯度下降法的模型补偿项以确保其瞬态性能,实现对其高精度的控制,并同时具备对参数的快速自适应能力。最后,设计了与传统控制器的对比实验,并在电动注塑机上进行了实验。对比实验结果验证了提出的方法具有较高的跟踪性能和较强的参数自适应性。In order to improve the mold control accuracy and stability of electric injection molding machine,a nonlinear dynamic model is established for the mold control part composed of gear and ball screw structure firstly.Then,a Desire Compensate Adaptive Robust Control(DCARC)is proposed.Separating the parameter estimation process from the design of robust control laws to provide better parameter estimation,and introducing a model compensation term based on stochastic gradient descent to ensure its transient performance,achieving high-precision control while also possessing fast adaptive ability to parameters.Finally,the comparsion experiment is designed with the traditional controller.According to the results of the comparative experiment,it is verified that the proposed method has higher tracking performance and stronger parameter adaptability.

关 键 词：注塑机 自适应控制 鲁棒性控制 非线性控制 

分 类 号：TP27[自动化与计算机技术—检测技术与自动化装置]