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

摘要：

基于机构离散状态空间模型，提出了抑制弹性连杆机构振动响应的模型预测主动控制方法。将复杂机构动力学模型中的非线性因素、耦合因素以及系统高阶模态的影响作为扰动，建立了预测机构动态变形响应的预测模型，采用带实时预测误差修正的模型预测控制方法对弹性连杆机构的振动进行了主动控制，降低了控制方法对复杂机构数学模型的要求，提高了控制系统的实时性。数值仿真和实验结果证明了该方法的有效性。

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