面向重复性任务的多系统协同运动双耦合集成控制研究

Multiple systems coordinated work is widespread used in modern manufacturing industry by virtue of its parallelism, fault tolerance, flexibility and high efficiency. In manufacturing industry, repetitive task is implemented in most of productive processes. So, this project designs one double coupled integrated control Algorithm of multiple system coordinated control oriented to repetitive task, targeting at keeping multiple system formation trajectory, as well as owning individual system contoured trajectory tacking performance. Meanwhile, the project also proposes one generalized design methodology, which integrates individual system contoured controller with multiple system coordinated controller. Firstly, individual system contoured Algorithm is designed with single-axis tracking accuracy and multiple-axis contoured accuracy, uniting optimal control, iterative learning control and cross-coupled control. On the basis, mapping matrix is introduced in order to realize individual system and multiple systems coupling. According to different control requirement, the relationship between individual system and multiple systems performance is adjusted flexibly via a coupling weighting matrix. And, a weighting filter is used to compensate for dynamic inconsistencies when combining dynamically diverse systems. At last, experiment platform is set up to validate controller performance. The research result of this project establishes a generalized design methodology for multiple systems coordinated control，which addressed the two distinct design objectives in a single design frameworks. This research work provides a theoretical and technical support for the improvement in motion precition and flexibility of multiple systems coordinated work. .

多系统协同工作凭借其并行性、灵活性、高效性等优势在现代制造业中得到广泛的应用。多系统运动精度和单系统轮廓精度之间的耦合和匹配问题，是其中的难点和关键。在制造业中，大部分生产过程都是执行重复性任务，因此本项目针对重复性任务，提出一种基于双耦合集成的多系统协同运动控制算法，兼顾多系统整体运动精度、单系统轮廓跟踪精度和单轴跟踪精度。提出一种基于范数最优迭代学习交叉耦合的多轴运动控制算法，解决单轴跟踪精度和多轴轮廓精度的耦合和匹配问题；在此基础上，引入映射矩阵，实现单系统和多系统的耦合；采用一个耦合权重矩阵，调整单系统性能和多系统性能之间的关系；采用一个权重滤波器，补偿系统之间动态特性不一致；通过软硬结合的方式搭建实验平台验证控制器的性能。本项目的研究建立了一种通用的设计方法，将单系统轮廓控制与多系统协同控制统一到一个设计框架，为提高重复性任务的多系统协同运动精度和柔性提供了理论依据和技术支撑。

多系统协同工作凭借其并行性、灵活性、高效性等优势在现代制造业中得到广泛的应用。多系统运动精度和单系统轮廓精度之间的耦合和匹配问题，是其中的难点和关键。在制造业中，大部分生产过程都是执行重复性任务，因此本项目针对重复性任务，提出了一种基于双耦合集成的多系统协同运动控制算法，兼顾多系统整体运动精度、单系统轮廓跟踪精度和单轴跟踪精度。提出了一种基于范数最优迭代学习交叉耦合的多轴运动控制算法，解决单轴跟踪精度和多轴轮廓精度的耦合和匹配问题；在此基础上，引入映射矩阵，实现单系统和多系统的耦合；采用一个耦合权重矩阵，调整单系统性能和多系统性能之间的关系；采用一个权重滤波器，补偿系统之间动态特性不一致；通过软硬结合的方式搭建实验平台验证了控制器的性能。本项目的研究建立了一种通用的设计方法，将单系统轮廓控制与多系统协同控制统一到一个设计框架，为提高重复性任务的多系统协同运动精度和柔性提供了理论依据和技术支撑。