Passive force loading self-adaptive drive control method and system
阅读说明：本技术 一种被动式力加载的自适应驱动控制方法和系统 (Passive force loading self-adaptive drive control method and system ) 是由 王寅 闫怡汝 许航 谭济芸 周苗林 于 2019-11-08 设计创作，主要内容包括：本发明公开了一种被动式力加载的自适应驱动控制方法和系统。所述方法包括：获取所述系统的输入和输出,输入为速度,输出为加载力信息；根据所述速度和所述加载力信息,利用力随动加载控制器的评价指标模型进行处理,得到力随动加载控制器的非线性控制律；引入参考模型,根据加载力信息和所述速度,获取虚参考指令；根据所述虚参考指令,获取力偏差信号的虚误差；根据所述虚误差,获取力随动加载控制器的新评价指标模型；利用所述新评价指标模型,对非线性控制律进行修正,得到修正后的非线性控制律。本发明提供的被动式力加载的自适应驱动控制方法和系统,具有高性能、高加载精度和高可靠性的特点。(The invention discloses a passive force loading self-adaptive drive control method and system. The method comprises the following steps: acquiring input and output of the system, wherein the input is speed, and the output is loading force information; processing by utilizing an evaluation index model of the force follow-up loading controller according to the speed and the loading force information to obtain a nonlinear control law of the force follow-up loading controller; introducing a reference model, and acquiring a virtual reference instruction according to the loading force information and the speed; acquiring a virtual error of the force deviation signal according to the virtual reference instruction; acquiring a new evaluation index model of the force follow-up loading controller according to the virtual error; and correcting the nonlinear control law by using the new evaluation index model to obtain the corrected nonlinear control law. The passive force loading self-adaptive drive control method and system provided by the invention have the characteristics of high performance, high loading precision and high reliability.)
1. An adaptive drive control method for passive force loading, which is applied to a nonlinear passive force loading system, wherein the passive force loading system comprises a force follow-up loading controller, and the method comprises the following steps:
acquiring input and output of the system, wherein the input is speed v (k), and the output is loading force information F (k);
processing by utilizing an evaluation index model of the force follow-up loading controller according to the speed v (k) and the loading force information F (k) to obtain a nonlinear control law p (k) of the force follow-up loading controller;
introducing a reference model, and acquiring a virtual reference instruction F (k) according to the loading force information F (k) and the speed v (k)d；
According to the virtual reference instruction F (k)dObtaining the virtual error e of the force deviation signalvir；
According to said virtual error evirAcquiring a new evaluation index model of the force follow-up loading controller;
and correcting the nonlinear control law p (k) by using the new evaluation index model to obtain a corrected nonlinear control law p' (k).
2. The passive force-loaded adaptive drive control method according to claim 1, wherein the obtaining of the nonlinear control law p (k) of the force-dependent load controller by processing with an evaluation index model of the force-dependent load controller according to the speed v (k) and the load force information f (k) comprises:
according to the speed v (k) and the loading force information F (k), the nonlinear passive force loading system is equivalent to a linear model; the linear model is Δ F (k +1) ═ g (k) Δ v (k), where,
determining an evaluation index model of the force follow-up loading controller, wherein the evaluation index model of the force follow-up loading controller is J (p (k) ═ F*-F(k+1)|2+λ|v(k)-v(k-1)|2Wherein λ is an input limiting factor greater than 0, F (k +1) is loading force information at the time of k +1, F*A load instruction expected for the passive force loading system;
substituting the linear model into the evaluation index model of the force follow-up loading controller to obtain a nonlinear control law p (k) of the force follow-up loading controller,
3. The passive force-loading adaptive drive control method according to claim 1, wherein the new evaluation index model is:
wherein L (z) is a filter interposed between the force controller and the controlled loading system, evir(k) Is the imaginary error of the force deviation signal at time k, N is the sample time, and Con (z, θ) is the parametric force controller.
4. The passive force-loading adaptive drive control method according to claim 3, wherein the step of correcting the nonlinear control law p (k) by using the new evaluation index model to obtain a corrected nonlinear control law p' (k) comprises:
determining force control parameters
According to the nonlinear control law p (k), determining a force control parameter theta and a time-varying parameterg (k) relationship; the relation between the force control parameter theta and the time-varying parameter g (k) is
Determining and obtaining an estimated value of the time-varying parameter g (k) according to the relation between the force control parameter theta and the time-varying parameter g (k)
Based on the evaluation of the time-varying parameters g (k)
where h is the step-size coefficient, λ is the input limiting factor, F*(k +1) is the load instruction expected by the system at time k.
5. A passive force-loaded adaptive drive control system, comprising:
the input and output acquisition module is used for acquiring the input and the output of the system, wherein the input is the speed v (k), and the output is the loading force information F (k);
the nonlinear control law acquisition module is used for processing by utilizing an evaluation index model of the force follow-up loading controller according to the speed v (k) and the loading force information F (k) to obtain a nonlinear control law p (k) of the force follow-up loading controller;
a virtual reference instruction obtaining module, configured to introduce a reference model, and obtain a virtual reference instruction F (k) according to the loading force information F (k) and the speed v (k)d；
A virtual error obtaining module for obtaining the virtual reference instruction F (k)dObtaining the virtual error e of the force deviation signalvir；
A new evaluation index model obtaining module for obtaining the virtual error evirAcquiring a new evaluation index model of the force follow-up loading controller;
and the correcting module is used for correcting the nonlinear control law p (k) by using the new evaluation index model to obtain a corrected nonlinear control law p' (k).
6. The passive force-loading adaptive drive control system according to claim 5, wherein the nonlinear control law acquisition module comprises:
a linear model equivalence unit, configured to equate the nonlinear passive force loading system to a linear model according to the velocity v (k) and the loading force information f (k); the linear model is Δ F (k +1) ═ g (k) Δ v (k), where,
an evaluation index model determination unit configured to determine an evaluation index model of the force follow-up loading controller, the evaluation index model of the force follow-up loading controller being J (p (k) ═ F*-F(k+1)|2+λ|v(k)-v(k-1)|2Wherein λ is an input limiting factor greater than 0, F (k +1) is loading force information at the time of k +1, F*A load instruction expected for the passive force loading system;
a nonlinear control law determining unit for substituting the linear model into the evaluation index model of the force follow-up loading controller to obtain a nonlinear control law p (k) of the force follow-up loading controller,
7. The passive force-loading adaptive drive control system according to claim 5, wherein the new evaluation index model is:
wherein L (z) is a filter interposed between the force controller and the controlled loading system, evir(k) Is the imaginary error of the force deviation signal at time k, N is the sample time, and Con (z, θ) is the parametric force controller.
8. The passive force-loading adaptive drive control system of claim 7, wherein the correction module comprises:
a force control parameter determination unit for determining a force control parameter
The relation determining unit is used for determining the relation between a force control parameter theta and a time-varying parameter g (k) according to the nonlinear control law p (k); the relation between the force control parameter theta and the time-varying parameter g (k) is
An estimation determining unit for determining the estimation of the time-varying parameter g (k) according to the relationship between the force control parameter theta and the time-varying parameter g (k)
A nonlinear control law modification unit for estimating the time-varying parameters g (k)
where h is the step-size coefficient, λ is the input limiting factor, F*(k +1) is the load instruction expected by the system at time k.
Technical Field
The invention relates to the technical field of system control, in particular to a passive force loading self-adaptive drive control method and system with nonlinearity, strong interference and inaccurate modeling.
Background
The passive torque servo system is mainly applied to the mechanical load characteristic semi-physical simulation of an aerospace servo actuating system, can simulate the mechanical load characteristic borne by a moving mechanism in a real environment, analyzes and researches the performance of the servo system, and has very important functions in various fields such as scientific research production, experiments and the like. With the continuous improvement of various performance indexes of the space mechanism, higher requirements are also put forward on the aspects of the loading capacity, the servo precision and the like of the passive torque servo system, so that the research on the loading control strategy of the passive torque servo system becomes a hotspot and a difficulty. Different from the traditional passive force servo system, when the bearing side movement and the loading side movement cannot establish a one-to-one mapping relation, the improvement of the mechanism movement complexity can cause the enhancement of various disturbance effects of the controller, and the research on a passive force servo loading control method to meet the servo loading under different strengths and different loading frequencies has important significance.
Most of loading objects aimed at by passive force loading control are nonlinear, strong interference and time-varying systems. At present, most of the strategies commonly adopted by the traditional passive torque servo loading control are torque servo control aiming at the loading side, position servo control aiming at the bearing side is realized, a position deviation signal of the loading side and the bearing side is converted into a disturbance torque, and the influence on the loading precision caused by the redundant torque is reduced or eliminated by observing and compensating the internal and external interference of the system through a model-based control method. When the passive force servo loading control is oriented, when a loading system model cannot accurately acquire related data and the track of the expected position of a load side is unknown, the whole system has unavoidable external disturbance caused by the position deviation between the load side and various unknown interferences caused by the complexity of a loading mechanism, so that the traditional passive force servo loading control strategy cannot meet the loading requirements of high performance, high loading precision and high reliability.
Disclosure of Invention
The invention aims to provide a passive force loading self-adaptive drive control method and system, which have the characteristics of high performance, high loading precision and high reliability.
In order to achieve the purpose, the invention provides the following scheme:
an adaptive drive control method for passive force loading, which is applied to a nonlinear passive force loading system, wherein the passive force loading system comprises a force follow-up loading controller, and the method comprises the following steps:
acquiring input and output of the system, wherein the input is speed v (k), and the output is loading force information F (k);
processing by utilizing an evaluation index model of the force follow-up loading controller according to the speed v (k) and the loading force information F (k) to obtain a nonlinear control law p (k) of the force follow-up loading controller;
introducing a reference model, and acquiring a virtual reference instruction F (k) according to the loading force information F (k) and the speed v (k)d；
According to the virtual reference instruction F (k)dObtaining the virtual error e of the force deviation signalvir；
According to said virtual error evirAcquiring a new evaluation index model of the force follow-up loading controller;
and correcting the nonlinear control law p (k) by using the new evaluation index model to obtain a corrected nonlinear control law p' (k).
Optionally, the obtaining a nonlinear control law p (k) of the force-following loading controller by processing according to the speed v (k) and the loading force information f (k) by using an evaluation index model of the force-following loading controller includes:
according to the speed v (k) and the loading force information F (k), the nonlinear passive force loading system is equivalent to a linear model; the linear model is Δ F (k +1) ═ g (k) Δ v (k), where,
determining an evaluation index model of the force-following loading controllerModel is J (p (k) ═ F*-F(k+1)|2+λ|v(k)-v(k-1)|2Wherein λ is an input limiting factor greater than 0, F (k +1) is loading force information at the time of k +1, F*A load instruction expected for the passive force loading system;
substituting the linear model into the evaluation index model of the force follow-up loading controller to obtain a nonlinear control law p (k) of the force follow-up loading controller,where h is the step-size coefficient, λ is the input limiting factor, F*Is the desired load instruction for the system.
Optionally, the new evaluation index model is:
wherein L (z) is a filter interposed between the force controller and the controlled loading system, evir(k) Is the imaginary error of the force deviation signal at time k, N is the sample time, and Con (z, θ) is the parametric force controller.
Optionally, the modifying the nonlinear control law p (k) by using the new evaluation index model to obtain a modified nonlinear control law p' (k) includes:
determining force control parameters
Determining the relation between a force control parameter theta and a time-varying parameter g (k) according to the nonlinear control law p (k); the relation between the force control parameter theta and the time-varying parameter g (k) is
Determining and obtaining an estimated value of the time-varying parameter g (k) according to the relation between the force control parameter theta and the time-varying parameter g (k)
Based on the evaluation of the time-varying parameters g (k)
where h is the step-size coefficient, λ is the input limiting factor, F*(k +1) is the load instruction expected by the system at time k.
A passive force-loaded adaptive drive control system, comprising:
the input and output acquisition module is used for acquiring the input and the output of the system, wherein the input is the speed v (k), and the output is the loading force information F (k);
the nonlinear control law acquisition module is used for processing by utilizing an evaluation index model of the force follow-up loading controller according to the speed v (k) and the loading force information F (k) to obtain a nonlinear control law p (k) of the force follow-up loading controller;
a virtual reference instruction obtaining module, configured to introduce a reference model, and obtain a virtual reference instruction F (k) according to the loading force information F (k) and the speed v (k)d；
A virtual error obtaining module for obtaining the virtual reference instruction F (k)dObtaining the virtual error e of the force deviation signalvir；
A new evaluation index model obtaining module for obtaining the virtual error evirAcquiring a new evaluation index model of the force follow-up loading controller;
and the correcting module is used for correcting the nonlinear control law p (k) by using the new evaluation index model to obtain a corrected nonlinear control law p' (k).
Optionally, the nonlinear control law obtaining module includes:
linear model equivalent unit, usingEquating the nonlinear passive force loading system to a linear model based on the velocity v (k) and the loading force information f (k); the linear model is Δ F (k +1) ═ g (k) Δ v (k), where,
an evaluation index model determination unit configured to determine an evaluation index model of the force follow-up loading controller, the evaluation index model of the force follow-up loading controller being J (p (k) ═ F*-F(k+1)|2+λ|v(k)-v(k-1)|2Wherein λ is an input limiting factor greater than 0, F (k +1) is loading force information at the time of k +1, F*A load instruction expected for the passive force loading system;
a nonlinear control law determining unit for substituting the linear model into the evaluation index model of the force follow-up loading controller to obtain a nonlinear control law p (k) of the force follow-up loading controller,where h is the step-size coefficient, λ is the input limiting factor, F*Is the desired load instruction for the system.
Optionally, the new evaluation index model is:
wherein L (z) is a filter interposed between the force controller and the controlled loading system, evir(k) Is the imaginary error of the force deviation signal at time k, N is the sample time, and Con (z, θ) is the parametric force controller.
Optionally, the modification module includes:
a force control parameter determination unit for determining a force control parameter
The relation determining unit is used for determining the relation between a force control parameter theta and a time-varying parameter g (k) according to the nonlinear control law p (k); the relation between the force control parameter theta and the time-varying parameter g (k) is
An estimation determining unit for determining the estimation of the time-varying parameter g (k) according to the relationship between the force control parameter theta and the time-varying parameter g (k)
A nonlinear control law modification unit for estimating the time-varying parameters g (k)
where h is the step-size coefficient, λ is the input limiting factor, F*(k +1) is the load instruction expected by the system at time k.
According to the specific embodiment provided by the invention, the invention discloses the following technical effects: according to the passive force loading self-adaptive drive control method and system, the nonlinear control law of the force follow-up loading controller is corrected and calibrated by adopting the evaluation index model of the force follow-up loading controller, so that the setting of the controller parameters is realized, the detailed consideration of multiple unknown items and compound interference of the model is not needed, and a compensation control strategy is independently designed, so that the fast response speed and the high tracking precision during force loading can be still ensured. And further, when the mechanical load characteristics borne by the motion mechanism in a real environment are simulated, the dynamic composite loading control with high performance, high precision and high reliability on the force-moment of the passive moment servo system is realized.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings needed in the embodiments will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and it is obvious for those skilled in the art to obtain other drawings without creative efforts.
FIG. 1 is a schematic structural diagram of a non-linear passive force loading system according to the present invention;
FIG. 2 is a top view of a non-linear passive force loading system provided by the present invention;
FIG. 3 is a flowchart of an adaptive driving control method for passive force loading according to an embodiment of the present invention;
FIG. 4 is a schematic diagram of a passive force loading adaptive drive control method according to an embodiment of the present invention;
fig. 5 is a schematic structural diagram of a passive force-loading adaptive driving control system according to an embodiment of the present invention.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
The invention aims to provide a passive force loading self-adaptive drive control method and system, which have the characteristics of high performance, high loading precision and high reliability.
In order to make the aforementioned objects, features and advantages of the present invention comprehensible, embodiments accompanied with figures are described in further detail below.
Fig. 1 is a schematic structural diagram of a nonlinear passive force loading system provided by the present invention, fig. 2 is a top view of the nonlinear passive force loading system provided by the present invention, and as shown in fig. 1 and fig. 2, an apparatus of a passive force loading mechanism includes a mechanism base (1), an adjusting bracket (2), a square support block (3), a rotating mechanism mounting plate (4), a linear motion actuator (5), a load rotating shaft rotary joint (6), a load rotating shaft mechanism (7), a rotating mechanism housing (8), and a fixing bolt (9).
The linear motion actuator (5) comprises a direct-current servo torque motor, a high-precision roller screw pair, a photoelectric encoder, an action rod (5-1) and a ball joint bearing (5-2).
The adjusting bracket (2) comprises a rotating shaft mechanism (2-1) and a cylindrical adjusting table (2-2).
The linear motion actuator (5) is fixed on the cylindrical adjusting table (2-2) through a rotating shaft mechanism (2-1), the other end of the linear motion actuator (5) can extend out of the action rod (5-1), and the action rod (5-1) is connected with the load rotating shaft rotating joint (6) through a ball joint bearing (5-2).
The bottom of the load rotating shaft rotating joint (6) is fixedly connected to the load rotating shaft mechanism (7).
And the load rotating shaft mechanism (7) penetrates through the first rotating mechanism mounting plate (4-1) and the second rotating mechanism mounting plate (4-2) and is respectively connected with the first rotating mechanism shell (8-1) and the second rotating mechanism shell (8-2).
The tops of the first square supporting block (3-1), the second square supporting block (3-2), the third square supporting block (3-3) and the fourth square supporting block (3-4) are fixedly connected with the first rotating mechanism mounting plate (4-1) and the second rotating mechanism mounting plate (4-2) respectively, and the bottoms of the four square supporting blocks are fixedly connected with the mechanism base (1).
Relative rotary motion exists between the ball joint bearing (5-2) and the load rotating shaft rotary joint (6) and between the mounting hole of the linear motion actuator (5) and the rotating shaft mechanism (2-1).
The rotating shaft mechanism (2-1) positioned on the adjusting bracket (2) is fixed, and the cylindrical adjusting platform (2-2) is only used for adjusting the installation position of the linear motion actuator (5).
When the linear motion actuator (5) moves under the driving of the direct current servo torque motor, the action rod (5-1) is the output end of the linear motion actuator (5) and can show the linear motion of extension or contraction. The load rotating shaft rotating joint (6) fixedly connected to the load rotating shaft mechanism (7) performs anticlockwise or clockwise rotating motion along with the load rotating shaft rotating joint, and then drives the first rotating mechanism shell (8-1) and the second rotating mechanism shell (8-2) connected with the load rotating shaft rotating joint to move, so that the rotating part of the passive force loading heart pain performs rotating motion.
A passive force loading mechanism can meet accurate position servo tracking through position closed-loop control, provides a powerful basis for force servo loading, gives an expected force loading instruction, designs a proper force follow-up loading controller to generate a speed motion instruction, further drives the motion of the passive force loading mechanism, and performs force feedback control to finish passive force servo loading control when the passive force loading mechanism is in contact with a bearing side due to relative motion to generate loading force.
Because the motion form of the load side and the load side can not establish a one-to-one mapping relation, the force can not be quickly tracked through position compensation, and a passive force loading control system model can not be accurately obtained, a dynamic linear method is needed to obtain an input and output dynamic model of the nonlinear system, then a force follow-up loading controller is optimized according to an adaptive driving control method, further estimation of model parameters between the input and the output of the system is obtained, and finally a real-time control law of a forward path force loading controller is obtained, so that the adaptive driving control method of the passive force loading is designed, as shown in fig. 3, the method comprises the following steps:
s100, acquiring input and output of the system, wherein the input is speed v (k), and the output is loading force information F (k);
s101, processing by using an evaluation index model of a force follow-up loading controller according to the speed v (k) and the loading force information F (k) to obtain a nonlinear control law p (k) of the force follow-up loading controller;
s102, introducing a reference model, and acquiring a virtual reference instruction F (k) according to loading force information F (k) and the speed v (k)d；
S103, rootAccording to the virtual reference instruction F (k)dObtaining the virtual error e of the force deviation signalvir；
S104, according to the virtual error evirAcquiring a new evaluation index model of the force follow-up loading controller;
and S105, correcting the nonlinear control law p (k) by using the new evaluation index model to obtain a corrected nonlinear control law p' (k).
In S101 to S105, according to the velocity v (k) and the loading force information f (k), a step of obtaining a nonlinear control law p (k) of the force-following loading controller by processing using an evaluation index model of the force-following loading controller includes:
according to the speed v (k) and the loading force information F (k), the nonlinear passive force loading system is equivalent to a linear model; the linear model is Δ F (k +1) ═ g (k) Δ v (k), where,
determining an evaluation index model of the force follow-up loading controller, wherein the evaluation index model of the force follow-up loading controller is J (p (k) ═ F*-F(k+1)|2+λ|v(k)-v(k-1)|2Wherein λ is an input limiting factor greater than 0, F (k +1) is loading force information at the time of k +1, F*A load instruction expected for the passive force loading system;
substituting the linear model into the evaluation index model of the force follow-up loading controller to obtain a nonlinear control law p (k) of the force follow-up loading controller,
According to a control method schematic diagram shown in FIG. 4, a reference model is introduced, and loading force information F (k) and the speed v (k) are obtainedGet imaginary reference instruction F (k)dThe method specifically comprises the following steps:
setting an expected step signal of the loading force, obtaining a loading force signal curve corresponding to the moment through a given reference model, and optimizing parameters of the force follow-up loading controller to enable the closed-loop characteristic of the system to be close to the expected step signal, namely optimizing and minimizing the expected step signal according to the following indexes:
where Cm (z) is a reference model, G (z) is a loading system, and Con (z, θ) is a parameterized controller. The reference model is designed as a discretized linear form as follows according to the needs:
because the loading system G (z) in the optimization index is unknown and is difficult to directly derive the parameters of the force loading controller, according to F (k) ═ Cm (z) F (k)dAnd measured (v (k), F (k))k＝1,2,…NObtaining a virtual reference instruction F (k)d＝Cm(z)-1F(k)；
According to the virtual reference instruction F (k)dObtaining the virtual error e of the force deviation signalvir，evir＝F(k)d-F(k)。
When the force reference command is changed to Fd_virAnd both the control input and the control output have (1: N), then according to the virtual error evirThe new evaluation index model for the force follow-up loading controller is obtained as
Where l (z) is a filter placed between the force controller and the controlled load system, and generally has the form that the controller near optimal solution can be obtained, and l (z) is 1-cm (z) z-1，evir(k) Is the imaginary error of the force deviation signal at time k, N is the sample time, and Con (z, θ) is the parametric force controller.
With { v } in the case of ensuring the control parameters are optimalvir(k)k＝1,2,…N}＝{v(k)k＝1,2,…NCan be according to { e }vir(k),vvir(k)k＝1,2,…NThe overwrite evaluation index was
In the above formula, Con (z, θ) ═ β (z) θ, β (z) is a designed discrete transfer function;
determining force control parameters
Determining the relation between a force control parameter theta and a time-varying parameter g (k) according to the nonlinear control law p (k); the relation between the force control parameter theta and the time-varying parameter g (k) is
Determining and obtaining an estimated value of the time-varying parameter g (k) according to the relation between the force control parameter theta and the time-varying parameter g (k)
Based on the evaluation of the time-varying parameters g (k)Correcting the nonlinear control law p (k) to obtain a corrected nonlinear control law p' (k); the nonlinear control law p' (k) after the correction is:namely, the design of the complete force follow-up loading controller is completed.
Where h is the step-size coefficient, λ is the input limiting factor, F*(k +1) is the load instruction expected by the system at time k.
In addition, the present invention also provides a passive force-loading adaptive driving control system, as shown in fig. 5, the system includes: the system comprises an input/
The input/
The nonlinear control
The linear model equivalent unit is used for equating the nonlinear passive force loading system into a linear model according to the speed v (k) and the loading force information F (k); the linear model is Δ F (k +1) ═ g (k) Δ v (k), where,f (k +1) ═ F (k)), …, F (k-m), v (k), … v (k-n)), F (-) is an unknown nonlinear smooth function, and m and n are unknown constant terms. An evaluation index model determination unit determines an evaluation index model of the force follow-up loading controller, the evaluation index model of the force follow-up loading controller being J (p (k) ═ F*-F(k+1)|2+λ|v(k)-v(k-1)|2Where λ is an input limiting factor greater than 0, F (k +1)) As loading force information at
The
Wherein the force control parameter determining unit determines the force control parameter
where h is the step-size coefficient, λ is the input limiting factor, F*(k +1) isTime k is the load instruction expected by the system.
According to the specific embodiment provided by the invention, the invention discloses the following technical effects: according to the passive force loading self-adaptive drive control method and system, the nonlinear control law of the force follow-up loading controller is corrected and calibrated by adopting the evaluation index model of the force follow-up loading controller, so that the setting of the controller parameters is realized, the detailed consideration of multiple unknown items and compound interference of the model is not needed, and a compensation control strategy is independently designed, so that the fast response speed and the high tracking precision during force loading can be still ensured. And further, when the mechanical load characteristics borne by the motion mechanism in a real environment are simulated, the dynamic composite loading control with high performance, high precision and high reliability on the force-moment of the passive moment servo system is realized.
In addition, the invention also has the following effects:
1. the passive dynamic force composite loading during the multiform of the load side motion is realized;
2. the problem that redundant torque applied by a force servo loop is difficult to compensate through real-time position deviation of a loading side and a bearing side because the expected track of the loading side is unknown is solved;
3. when the loading system model is unknown, the control parameters are optimized only based on data acquisition.
The embodiments in the present description are described in a progressive manner, each embodiment focuses on differences from other embodiments, and the same and similar parts among the embodiments are referred to each other. For the system disclosed by the embodiment, the description is relatively simple because the system corresponds to the method disclosed by the embodiment, and the relevant points can be referred to the method part for description.
The principles and embodiments of the present invention have been described herein using specific examples, which are provided only to help understand the method and the core concept of the present invention; meanwhile, for a person skilled in the art, according to the idea of the present invention, the specific embodiments and the application range may be changed. In view of the above, the present disclosure should not be construed as limiting the invention.
- 上一篇：一种医用注射器针头装配设备
- 下一篇：一类非线性系统自适应模糊容错控制方法