锻压技术

重载机械手旋转驱动系统的预测控制

英文标题：Predictive control of rotating drive system with heavy-load manipulator

作者：吴贤斌李群明邓华

分类号：TG315; TH137.5

出版年,卷(期):页码：2018,43(4):112-117

摘要：

针对重载机械手旋转驱动系统受固有非线性摩擦的影响而位置控制精度不高的问题，基于系统的状态空间模型，结合模型预测控制（MPC）、拓展卡尔曼滤波（EKF）和二次优化算法，提出一种基于卡尔曼滤波的模型预测控制方法。通过模型预测控制（MPC）能够实现约束条件下的精确控制，通过拓展卡尔曼滤波（EKF）能够避免模型误差的影响，提高了系统的鲁棒性；通过二次优化算法能够高效求出局部最优解。仿真结果表明，所设计的控制策略在快速性和稳定性方面都优于传统PID控制。实验结果表明该控制策略是有效的，能显著提高重载机械手旋转驱动系统的位置控制精度。

For the problem of the low position control precision of rotary drive system for heavy-load manipulator resulting from inherent nonlinear friction, based on the state space model of system, a predictive control method for model based on Kalman filter was proposed by combining with model predictive control (MPC), extended Kalman filter (EKF) and quadratic optimization algorithm. Then, the precise control under constraint conditions was realized by the model predictive control (MPC). And the impact of model error was avoided by the extended Kalman Filter (EKF) which improves the system robustness. Furthermore, the local optimal solution was calculated efficiently by the quadratic optimization algorithm. The simulation results show that the designed control strategy is superior to the traditional PID control in terms of fastness and stability. And the experimental results show that the control strategy is effective and can improve the position control precision of rotary drive system for heavy-load manipulator significantly.

基金项目：

国家973计划项目（2006CB705404）

吴贤斌（1992-），男，硕士研究生；E-mail：1055644410@qq.com；通讯作者：邓华（1961-），男，博士，教授；E-mail：hdeng@csu.edu.cn

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