拱架机器人的变增益H∞鲁棒控制
Journal Title: Science Paper Online - Year 2007, Vol 2, Issue 3
Abstract
本文研究了由同步带驱动的拱架机器人的建模与变增益H∞鲁棒控制问题。此拱架机器人提供两个相互垂直方向的运动，即沿梁运动的贴装头（x方向）和沿基座运动的梁（y方向），其中y向动力学建模为一线性变参数系统，而贴装头在x向的位置作为系统的变参数。模型考虑了同步带驱动系统的动力学特性，贴装头与导轨间连接的横向柔性，梁与导轨间连接的扭转柔性。为使梁在y方向得到快速精确的定位，本文研究了线性变参数系统的定位控制方法；首先采用严格的等价变换，将一类通用的线性变参数系统描述模型变换为一简化模型，在引入“变H∞性能”的概念后，将控制器的设计问题转换为满足线性矩阵不等式约束的参数矩阵的求解问题，并给出了无需变参数变化率反馈的变增益全阶输出反馈H∞控制器设计方法；然后基于“H∞性能覆盖”的概念，给出了保H∞性能的插值方法；最后将所提算法应用于拱架机器人y向动力学模型上。仿真结果表明：此控制器设计方法有效地降低了控制器设计的保守性。
Authors and Affiliations
Jinbo Wu , Zhouping Yin, Youlun Xiong
Keywords
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