论文标题
两速执行器的实用最佳控制方法
A practical optimal control approach for two-speed actuators
论文作者
论文摘要
本文介绍了具有连续输入变量（电动机扭矩）和离散输入变量（模式选择）的执行器的闭环控制。在许多应用中，机器人在缓慢移动的同时必须承担巨大的负载，并且必须在几乎没有负载的情况下迅速在空中移动，从而导致对执行器的要求相互矛盾。具有多个齿轮比的执行器，例如在动力总成中，可以通过在各种输出速度上有效使用电源来解决此问题。但是，具有离散操作模式为高级控制和计划增添了复杂性。在这里，一个自动选择最佳齿轮比和电动机扭矩的控制器的控制器。该方法是：首先得出一个低维模型，然后使用动态编程来为所有可能的情况找到最佳动作，最后使用回归分析来提取简化的全局反馈定律。这种方法产生了简单的实用性几乎最佳的反馈定律。对于两速执行器原型，全球范围最小化二次成本函数的控制器被证明是经过证明的，并且在实验中证明了性能。
This paper addresses the closed-loop control of an actuator with both a continuous input variable (motor torque) and a discrete input variable (mode selection). In many applications, robots have to bear large loads while moving slowly and also have to move quickly through the air with almost no load, leading to conflicting requirements for their actuators. An actuator with multiple gear ratios, like in a powertrain, can address this issue by allowing an effective use of power over a wide range of output speed. However, having discrete modes of operation adds complexity to the high-level control and planning. Here a controller for two-speed actuators that automatically select both the best gear ratio and the motor torque is developed. The approach is to: first derive a low-dimensional model, then use dynamic programming to find the best actions for all possible situations, and last use regression analysis to extract simplified global feedback laws. This approach produces simple practical nearly-optimal feedback laws. A controller that globally minimizes a quadratic cost function is derived for a two-speed actuator prototype, global stability is proven and performance is demonstrated experimentally.
