摘要
针对液压机器人系统存在较大的不确定性及干扰 ,其特征参数将随工况的变化和外载及环境的影响产生大幅度变动的特点 ,提出一种预测函数控制 (PFC)和 PID相结合的新方法。该方法相当于一个 PFC- P控制结构 ,通过其本身内环来克服随机干扰 ,外环采用预测函数控制来获得优良的跟踪性能和鲁棒性 ,实现目标和控制的分层。仿真结果表明 ,该 PFC- P控制方法能兼顾跟踪性、鲁棒性和抗干扰性等性能指标 。
The predictive function control (PFC) with PID of a hydraulic robot system is presented with actions of random disturbance and uncertain parameters, such as the hydraulic nature frequency, the hydraulic damping factor and external load disturbance, in which characteristic parameter is greatly varied with the hydraulic robot system work state, the extern load and environment. It is similar to PFC-P control structure. The random disturbance is surpassed in inner-loop. The good tracking performance and robustness are obtained by predictive function control in extern loop. The layer of goal and control is divided. The simulation results show that the new PFC-P control method has satisfactory tracking performance, robustness and the ability to suppress disturbance.
出处
《控制与决策》
EI
CSCD
北大核心
2002年第1期120-122,共3页
Control and Decision
