基于IMC-NI方法的柔性机械臂鲁棒控制器设计  

Robust Controller Design for Flexible Manipulator Based on IMC-NI Method

作　　者：王重辉 孟范伟 邰源政 陈昊男 WANG Chonghui;MENG Fanwei;TAI Yuanzheng;CHEN Haonan(School of Control Engineering,Northeastern University at Qinhuangdao,Qinhuangdao 066004,China)

机构地区：[1]东北大学秦皇岛分校控制工程学院,秦皇岛066004

出　　处：《组合机床与自动化加工技术》2024年第12期72-75,80,共5页Modular Machine Tool & Automatic Manufacturing Technique

基　　金：国家自然科学基金资助项目(12162007)。

摘　　要：研究了一类带有不确定性柔性机械臂的控制设计问题,提出了一种新的基于内模控制的负虚(IMC-NI)方法。通过将IMC控制器参数求解问题转化为负虚控制综合问题,从而推导出一组负虚条件相关的矩阵不等式条件。同时提供了控制器设计过程中稳定多项式参数选择方法,以优化控制器性能。最后通过柔性臂仿真实验,表明IMC-NI方法比传统H_(∞)回路控制具有更好的鲁棒性和动态响应特性。This paper studies the control design problem of a type of flexible manipulator with uncertainty,and proposes a new negative imaginary method based on internal model control.By converting the problem of solving IMC controller parameters into a comprehensive problem of negative imaginary control,a set of matrix inequality conditions related to negative imaginary conditions is derived.At the same time,a stable polynomial parameter selection method in the controller design process is provided to optimize controller performance.Finally,the flexible arm simulation experiment shows that the IMC-NI method has better robustness and dynamic response characteristics than H∞control.

关 键 词：柔性机械臂 内模控制 负虚控制 鲁棒性 

分 类 号：TH112[机械工程—机械设计及理论] TG659[金属学及工艺—金属切削加工及机床]