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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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

Received: 27 September 2018 Published: 28 February 2020

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	Articles by authors
	DAI Shijie1
	2
	CHENG Jun1
	2
	ZHANG Huibo1
	2
	WANG Xiaojun1
	2

Cite this article:

DAI Shijie1,2,CHENG Jun1, et al. Chatter suppression at end of a manipulator for grinding wind turbine blade based on incremental coupling predictive control[J]. JOURNAL OF VIBRATION AND SHOCK, 2020, 39(5): 235-243.

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http://jvs.sjtu.edu.cn/EN/ OR http://jvs.sjtu.edu.cn/EN/Y2020/V39/I5/235

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