关键词: 弹性连杆机构；模型预测控制；离散预测模型；振动主动控制

Abstract:

Based on the discrete state-space equations of linkage mechanisms, a model predictive control (MPC) strategy was proposed for the active control of elastic vibration responses. In order to simplify the control model, the complicated influence factors such as coupling effects between elastic deformation and rigid-body motion of mechanism,geometrical non-linearity due to elastic deformation and high order model responses etc. were treated as disturbances. The predictive model to estimate responses of the linkage mechanism was derived. The MPC method with on-line predictive error correction was adopted for suppressing the elastic vibration of linkage mechanism. By using this control strategy, the on-line calculation time of control system is reduced. Numerical simulation and experimental investigation show the effectiveness of the above presented method.

Key words: elastic linkage mechanism, model predictive control, discrete predictive model;active vibration control