双三角钻臂直接定位自适应预测控制

来源期刊：中南大学学报(自然科学版)2004年第6期

论文作者：李力争 何清华 谢习华 郭勇

文章页码：983 - 987

关键词：凿岩机器人;双三角钻臂;直接定位;自适应预测控制

Key words：rock-drilling robot; double-triangle boom; directly positioning; adaptive predictive control

摘    要：针对复杂非线性系统控制中闭环预测存在的缺陷,提出了一种适合于一般非线性系统的非齐次时变线性模型,给出并证明了其存在性定理,推出了基于该类模型的自适应预测控制算法;引入直角坐标系和斜角坐标系来描述双三角钻臂的结构和运动特性,通过坐标变换,根据给定的钻臂目标运行轨迹对各液压缸的运行速度作出决策,采用自适应预测控制策略控制其运行速度;在原有双臂凿岩台车的基础上研制了一套完整的凿岩台车两级计算机控制系统,应用上述方法实现了双三角钻臂轨迹跟踪直接定位控制。

Abstract: For the control of complex nonlinear systems so as to overcome the shortage of closed-loop prediction, an inhomogeneous time-varying linear model fitting for general nonlinear systems is put forward, the existence theorem of the model is presented and demonstrated. Then an adaptive predictive control algorithm based on the model is deduced. A rectangular coordinates and an oblique coordinates are introduced to describe the structure and the kinetic characteristic of the boom. Through coordinate transformation, the moving velocity of the cylinders is decided according to the given target moving the trace of the boom, and the velocity is controlled by the use of the above control strategy. Based on an original hydraulic drill rigwith two booms, a twostage computer control system of hydraulic drill rig is developed, the trajectorytracking and directly positioning control of the boom is practically realized, and excellent application effect is acquired.