弹性植物的最优运动控制

Proceedings of 4th IEEE International Workshop on Advanced Motion Control - AMC '96 - MIE Pub Date : 1996-03-18 DOI:10.1109/AMC.1996.509313

F. Palis, A. Buch, U. Ladra

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引用次数: 2

摘要

利用模态分析方法，将弹性装置的动力特性简化为4/sup /阶系统。应用庞特加金的极大值原理，计算了4/sup /阶模态模型的时间和能量最优控制律。参数变化、模型逼近和其他干扰的影响由附加的闭环控制算法补偿，该算法基于对级联模型的特殊坐标变换。

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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Optimal motion control of elastic plants

Using modal analysis the dynamic behaviour of elastic plants is reduced to a 4/sup th/ order system. Applying the maximum principle of Pontrjagin time and energy optimal control laws are calculated for a 4/sup th/ order modal model. The influence of parameter variations, model approximation and other disturbances is compensated by an additional closed-loop control algorithm based on a special coordinate transformation to a cascade model.

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Proceedings of 4th IEEE International Workshop on Advanced Motion Control - AMC '96 - MIE

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