柔性连杆伺服系统多容惯性PI控制  

Multi-Capacity Process PI Control of Flexible Linkage Servo System

作　　者：陆泽冲 唐传胜 王辉[1] 蔡广宇 付志军[1] LU Ze-chong;TANG Chuan-sheng;WANG Hui;CAI Guang-yu;FU Zhi-jun(Zhengzhou University of Light Industry,College of Mechanical and Electrical Engineering,Zhengzhou,450002;Nanyang Institute of Technology,Institute ofIntelligent Manufacturing,Nanyang,473004)

机构地区：[1]郑州轻工业大学机电工程学院,河南郑州450002 [2]南阳理工学院智能制造学院,河南南阳473004

出　　处：《制造业自动化》2025年第3期33-42,共10页Manufacturing Automation

基　　金：浙江省重点研发计划(2021C02022);2022年四川省重大研发项目(2022YFG0060);河南省高等学校重点科研项目(22B470009,21A413005);河南省重点研发与推广专项(科技攻关)(222102210105)。

摘　　要：永磁同步电机驱动柔性连杆机构是一个复杂的强耦合非线性系统,在柔性机械臂、太阳能帆板、自动化生产线等结构轻、自重比高的场合得到广泛应用。柔性环节的存在会产生明显变形,引起谐振、降低系统的精度甚至导致失稳,给系统的建模和控制增加难度;同时,柔性连杆系统模型参数难以完全获得。为此,提出一种基于多新息模型参数辨识的多容惯性PI(Multiple Capacity Process PI,MCP-PI)控制方法。首先,根据柔性连杆系统的结构特点,建立系统的动力学模型;其次,对柔性连杆伺服系统模型离散化处理,采用多新息随机梯度算法(Multi-Innovation Stochastic Gradient,MISG)对柔性连杆进行参数辨识;然后,采用多容惯性方法分别对柔性连杆伺服系统的电流环和转速环PI控制参数进行设计;最后,通过数值仿真说明所用方法的快速性和精确性,并将所提出的MCP-PI控制方法与工程设计方法、极点配置方法进行对比,验证了所提出控制方法的优越性。The flexible linkage mechanism driven by permanent magnet synchronous motor is a complex and strongly coupled nonlinear system,which is widely used in the applications with lightweight structure and high self-weight ratio,such as flexible manipulators,solar panels,and automated production lines.The existence of flexible links can produce obvious deformation,cause resonance,reduce the accuracy of the system and even lead to instability,all of which increases the difficulty of the system modeling and control.At the same time,since the model parameters of the flexible linkage system are difficult to fully obtain,a Multiple Capacity Process PI(MCPPI)control method based on parameter identification of multiple information models is therefore proposed in this paper.Firstly,a dynamic model of the flexible linkage system is established according to its structural characteristics.Secondly,the model of the flexible linkage servo system is discretized,and the multi-innovation stochastic gradient algorithm is used to identify the parameters of the flexible linkage.Then,the multi-capacity process theory is used to design the PI control parameters of the current loop and speed loop.Finally,the rapidity and accuracy of the proposed method are demonstrated by numerical simulation,and the superiority of the proposed MCPPI control method is verified by comparing it with engineering design method and pole placement method.

关 键 词：柔性连杆伺服系统 参数辨识 多新息随机梯度 多容惯性 PI控制 

分 类 号：TP23[自动化与计算机技术—检测技术与自动化装置] TP24[自动化与计算机技术—控制科学与工程] N945.14[自然科学总论—系统科学]