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首页> 外文期刊>IEEE transactions on industrial informatics >Robust Decentralized Controller Synthesis in Flexure-Linked H-Gantry by Iterative Linear Programming
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Robust Decentralized Controller Synthesis in Flexure-Linked H-Gantry by Iterative Linear Programming

机译：弯曲线性H型门架中鲁棒分散控制器的迭代线性规划

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摘要

The dual-drive H-gantry is widely used for high-speed, high-precision Cartesian motion. Compared with the conventional rigid-linked design, the flexure-linked counterpart is able to prevent the damage of joints for its smaller interaxial coupling force. However, there are still barriers to further push up its precision, such as parametric uncertainties due to the inaccurate dynamical model, the possible induced vibration during high-speed motion, and the decentralized control structure required by industries. To maintain the tracking precision of carriages and minimize the vibration of the end effector, we aim to optimize parameters in decentralized controllers with choices of flexure pieces. We find that such decentralized feedback structure yields some uncontrollable but stabilizable states in the closed-loop system, and no direct solution from solving the algebraic Riccati equation is available in this case. Such structural constraint, together with constraints due to stability requirement and model uncertainties facilitates us to formulate an H-2 guaranteed cost control problem within a projected convex domain. From here, efficient numerical procedures are developed to obtain the global optimum by iterative linear programming. The real-time experiment validates the optimality and the robustness of the proposed method.
机译：双驱动H型龙门广泛用于高速，高精度笛卡尔运动。与传统的刚性连接设计相比，挠性连接的配对件因其较小的轴间耦合力而能够防止接头损坏。但是，仍然存在进一步提高其精度的障碍，例如由于不正确的动力学模型，高速运动过程中可能引起的振动以及工业所需的分散控制结构等原因导致的参数不确定性。为了保持小车的跟踪精度并最小化末端执行器的振动，我们的目标是通过选择挠性件来优化分散式控制器中的参数。我们发现，这种分散的反馈结构在闭环系统中产生了一些不可控制但稳定的状态，在这种情况下，无法通过求解代数Riccati方程获得直接解决方案。这种结构性约束以及由于稳定性要求和模型不确定性引起的约束使我们能够在投影凸域内制定H-2保证成本控制问题。从这里开始，开发了有效的数值程序，以通过迭代线性规划获得全局最优值。实时实验验证了所提方法的最优性和鲁棒性。

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