Predictive regulating device of the drive with nonrigid link

Proceedings of the 8th International Scientific and Practical Conference of Students, Post-graduates and Young Scientists Modern Technique and Technologies, 2002. MTT 2002. Pub Date : 1900-01-01 DOI:10.1109/SPCMTT.2002.1213742

I. A. Shipitko, K. V. Zmei

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Abstract

Suggested algorithm of the control of the manipulator nonrigid link coordinated drive is based on the usage of the method of predictive control. Currently, the procedure of the predictive control develops intensively due-to the specified advantages as compared with the traditional methods of control, such as the deviation control. If with the traditional approach the control action is calculated based on the control error following its occurrence, with the predictive control the explicit model of the controlled object is used. By means of which the evolution of the object controlled coordinate within the definite future time cell called as prediction horizon is used. Controlled consequence is calculated so that to minimize the deviation of the predicted trajectory of the controlled coordinate change from the specified reference trajectory determining the desired dynamics of the transient.

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非刚性连杆传动的预测调节装置

提出了一种基于预测控制方法的机械臂非刚性连杆协调驱动控制算法。与传统的控制方法(如偏差控制)相比，预测控制具有明显的优势，目前得到了广泛的发展。传统的控制方法是根据控制误差的发生来计算控制动作，而预测控制则是使用被控对象的显式模型。该方法利用目标控制坐标在确定的未来时间单元(称为预测视界)内的演化。计算控制结果，以使控制坐标变化的预测轨迹与指定参考轨迹的偏差最小，从而确定所需的瞬态动力学。

本文章由计算机程序翻译，如有差异，请以英文原文为准。

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Proceedings of the 8th International Scientific and Practical Conference of Students, Post-graduates and Young Scientists Modern Technique and Technologies, 2002. MTT 2002.

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