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针对多种工况、多种负载情况的柔性传动系统的控制问题,给出一种多模型自适应控制解决方案.在介绍柔性传动系统构成的基础上,针对多模型受控系统的控制问题,给出多模型自适应控制方法,详细论述了切换策略与控制器设计的具体方法,并对控制器的稳定性进行了分析与证明.为验证相关方案的有效性,构建了柔性传动系统实验平台,并分别采用鲁棒控制、自适应控制和多模型自适应控制开展实验分析与验证.相关实验结果表明,本文所给出的多模型自适应控制方案,能够克服单纯采用鲁棒控制与自适应控制所导致的控制系统发散问题.对于多模型自适应控制的相关参数分析表明:在合理选择模型数目与停驻时间的基础上,性能指标参数选择对于控制效果的影响有限,本文给出的多模型自适应控制系统始终能够保证工业柔性传动系统的稳定控制,能够快速稳定地实现柔性传动系统的跟踪与调节目标.
Aiming at the control problem of flexible transmission system under various operating conditions and loads, a multi-model adaptive control solution is given. Based on the introduction of the structure of flexible transmission system and the control of multi-mode controlled system, The multi-model adaptive control method is given, the method of switching strategy and controller design are discussed in detail, and the stability of controller is analyzed and proved.In order to verify the effectiveness of the scheme, a flexible drive system experimental platform , Respectively, and the robust control, adaptive control and multi-model adaptive control are respectively used to carry out experimental analysis and verification.The experimental results show that the proposed multi-model adaptive control scheme can overcome the simple robust control and adaptive The control system caused by the divergence problem.Multi-model adaptive control of the relevant parameters analysis shows that: in a reasonable choice of the number of models and the parking time based on the performance parameters of the choice of parameters has a limited impact on the control effect, this article gives more Model adaptive control system is always able to ensure the stable control of industrial flexible transmission system, which can be quickly and stably Now with the flexible drive system adjusts the target track.