基于增量耦合预测控制的风电叶片打磨机械臂末端颤振抑制研究

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摘要针对风电叶片打磨过程中，末端执行器与叶片表面发生刚性接触而引起末端执行器切向颤振问题，提出一种基于力反馈与加速度前馈复合结构的末端执行器增量耦合预测控制方法。在末端执行器柔性驱动单元数学建模的基础上，基于增量耦合动态矩阵预测控制算法对复合PID控制策略进行改进，将不可控但可预知输入加速度作为磨削轴向力预测序列的一部分。同时，在有限时域内采用二次型性能指标最小化的方式对控制目标进行滚动优化，以确保末端执行器与风电叶片表面柔顺接触。仿真及实验结果表明，此方法可以快速地实现末端执行器的切向颤振抑制，并能最大限度地减小因控制时滞、环境时变、模型失配等带来的误差。

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	戴士杰1
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	成俊1
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	张慧博1
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	王小军1
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关键词 ：颤振抑制, 增量耦合, 动态矩阵, 预测控制, 复合PID控制

Abstract：Aiming at the problem of end-actuator tangential chatter caused by rigid contact between end-actuator and blade surface in process of grinding wind turbine blade, an incremental coupling predictive control method for the end-actuator based on the composite structure of force feedback and acceleration feedforward was proposed.On the basis of mathematical modeling for flexible driving unit of the end-effector, the composite PID control strategy was improved based on incremental coupling dynamic matrix predictive control algorithm.The uncontrollable but predictable input acceleration was taken as a part of prediction sequence of grinding axial force.Meanwhile, the control target was optimized by rolling in finite time domain with minimizing quadratic performance index to ensure flexible contact between end-actuator and wind turbine blade.Simulation and test results showed that the proposed method can quickly realize the end-effector’s tangential chatter suppression, and minimize errors brought by control time delay, environmental time-varying and model mismatch, etc.

Key words： chatter suppression incremental coupling dynamic matrix predictive control composite PID control

收稿日期: 2018-09-27 出版日期: 2020-02-28

引用本文:

戴士杰1,2，成俊1,2，张慧博1,2，王小军1,2. 基于增量耦合预测控制的风电叶片打磨机械臂末端颤振抑制研究[J]. 振动与冲击, 2020, 39(5): 235-243.
DAI Shijie1,2, CHENG Jun1,2, ZHANG Huibo1,2, WANG Xiaojun1,2 . Chatter suppression at end of a manipulator for grinding wind turbine blade based on incremental coupling predictive control. JOURNAL OF VIBRATION AND SHOCK, 2020, 39(5): 235-243.

链接本文:

http://jvs.sjtu.edu.cn/CN/ 或 http://jvs.sjtu.edu.cn/CN/Y2020/V39/I5/235

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