面向刚柔耦合定位平台的模型预测控制算法

doi:10.13229/j.cnki.jdxbgxb20210479

Abstract

Abstract:

For the feature that the RFCS has different models in motion and positioning stage， an extended state observer assisted model predictive control （ESO-MPC） method was proposed. The time-domain discrete difference equation was used to predict the dynamic response of RFCS， and an adjustable parameter during the time-domain discretization process was introduced to deal with uncertain factors of the experimental model. The feedback information was obtained through the Expanded State Observer （ESO）， which can observe the position and speed of the RFCS as well as the spring and damping forces of the flexible hinge in real time. The performance of traditional PID， feedforward PID， LADRC and ESO-MPC was compared by 25 sets of RFCS point-to-point experiments and load experiments. The experimental results show that the four control schemes can achieve a steady-state error of ±0.1 μm， and ESO-MPC has the smallest setting time and the robustness of ESO-MPC is verified by load experiment.

Key words: mechatronic engineering, rigid-flexible coupling positioning stage, model predictive control, extended state observer

CLC Number:

TP273

Zhi-jun YANG,Zhong-yi GAO,Li-jun WANG,Guan-xin HUANG,Yu-tai WEI. Model predictive control algorithm for rigid⁃flexible coupling positioning stage[J].Journal of Jilin University(Engineering and Technology Edition), 2022, 52(12): 2806-2815.

Figures/Tables 17

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参数	定义	值
J_max/（m·s^-3）	最大急动度	126.45
A_max/（m·s^-2）	最大加速度	8.11
V_max/（m·s^-1）	最大速度	0.78
Q/m	行程	0.15

PID	前馈PID	LADRC	ESO-MPC
k_P=3.2×10⁴	k_P=3.2×10⁴	ω_c=800	α=900
k_I=2.0×10⁶	k_I=2.8×10⁶	ω_o=1000	m=1.4
k_D=16	k_D=17		ω_o=1000

控制算法	最小值/ms	最大值/ms	平均值/ms	众数/ms
PID	30.6	44.5	34.31	33.0
前馈PID	25.9	35.8	31.50	31.5
LADRC	5.3	44.6	27.63	35.8
ESO-MPC	0.4	29.5	14.23	29.4

负载质量/kg	α	ω_c	m
1	900	1000	2.4
2	900	1000	3.4
3	900	1000	4.4
4	900	1000	5.4

负载质量/kg	最小值/ms	最大值/ms	平均值/ms	标准差
1	7.3	18.6	10.28	0.003 591 0
2	8.5	22.2	15.76	0.005 224 0
3	20.5	22.9	21.80	0.000 726 0
4	30.2	33.0	31.52	0.000 796 9

Model predictive control algorithm for rigid⁃flexible coupling positioning stage

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