平面机构结构和控制的并行设计
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摘要
机电设备在当今工业中得到广泛地应用，它有效地加快了工业生产自动化的进程，影响着各行各业的发展，而其中设计方法直接决定着机电产品性能的好坏。如何通过改进机电系统的设计方法来提高产品的性能已成为现今众所关注的热点领域。
以前的机电系统设计是分开处理机构部分与控制部分，先设计机构部分，再设计控制部分。这样，控制部分受到机构部分的制约，即使先进的控制器也不能有效地消除由于机构设计不合理引起的振动、精度不高等问题。所以关于如何高效地把机构设计与控制器设计结合起来的研究具有重要的理论和实际意义。
论文主要研究的内容是：对机电系统中机构与控制并行设计的方法(即如何把机构设计与控制设计相结合)进行了理论上的探讨，指出通过改善机构的构型和对机构进行质量平衡能有效地简化控制部分的设计、减小系统的速度波动、提高综合性能。通过分析机器人手的演化来揭示机构的构型与控制设计之间的关系。在电机驱动的平面四杆机构设计中，首先对机构进行质量平衡，这不但减小了速度波动，而且也简化了状态方程；再针对系统的状态方程非线性、时变特性选用单神经元自适应PID控制器的方法，有效的消除了系统的速度波动。论文利用MATLAB对电机驱动平面四杆机构的运动性能进行了模拟，对相关结论进行了验证。
Mechatronics system is used widely in modern industry. It can facilitate the development of automation and influence every field Within the Mechatrocis. The design methodology determines the quality of products. How to improve the design methodology to better the quality of products is concerned intensively.
In the past, mechanical part and control part are divided sequently, firstly the mechanical part, then the controller. Sometimes the control design is restricted by mechanical design. Even the advanced control system cannot eliminate the problems because of the bad mechanical design, such as vibration and low precision. The research about how to combine mechanical design and control design is meaningful in practice.
This thesis consists of three parts. Firstly, it theoretically discusses the concurrent design between mechanical and control system, showing its significance. And we can improve the mechanical design such as morphology and mass-distribution to simplify the control design reduce the vibration of mechatronics system and improve the performance. Secondly, four-bar linkages driven by motor and the robot hands are proposed to analyze the feasibility and necessity of concurrent design. The evolution of robot hands partly shows relationship between the degree of freedom and control. In the design of four-bar linkages driven by motor, the mass-distribution is used to counteract the fluctuation of system and improve the performance. At the same time, this paper applies an adaptive neuron PID controller for nonlinear time-variable system. It efficiently lessens the fluctuation, accompanying with mass-redistribution. At last, this paper simulates the dynamic performance of four-bar linkages driven by motor under the help of MATLAB software package to prove the conclusion mentioned above.
以前的机电系统设计是分开处理机构部分与控制部分，先设计机构部分，再设计控制部分。这样，控制部分受到机构部分的制约，即使先进的控制器也不能有效地消除由于机构设计不合理引起的振动、精度不高等问题。所以关于如何高效地把机构设计与控制器设计结合起来的研究具有重要的理论和实际意义。
论文主要研究的内容是：对机电系统中机构与控制并行设计的方法(即如何把机构设计与控制设计相结合)进行了理论上的探讨，指出通过改善机构的构型和对机构进行质量平衡能有效地简化控制部分的设计、减小系统的速度波动、提高综合性能。通过分析机器人手的演化来揭示机构的构型与控制设计之间的关系。在电机驱动的平面四杆机构设计中，首先对机构进行质量平衡，这不但减小了速度波动，而且也简化了状态方程；再针对系统的状态方程非线性、时变特性选用单神经元自适应PID控制器的方法，有效的消除了系统的速度波动。论文利用MATLAB对电机驱动平面四杆机构的运动性能进行了模拟，对相关结论进行了验证。
Mechatronics system is used widely in modern industry. It can facilitate the development of automation and influence every field Within the Mechatrocis. The design methodology determines the quality of products. How to improve the design methodology to better the quality of products is concerned intensively.
In the past, mechanical part and control part are divided sequently, firstly the mechanical part, then the controller. Sometimes the control design is restricted by mechanical design. Even the advanced control system cannot eliminate the problems because of the bad mechanical design, such as vibration and low precision. The research about how to combine mechanical design and control design is meaningful in practice.
This thesis consists of three parts. Firstly, it theoretically discusses the concurrent design between mechanical and control system, showing its significance. And we can improve the mechanical design such as morphology and mass-distribution to simplify the control design reduce the vibration of mechatronics system and improve the performance. Secondly, four-bar linkages driven by motor and the robot hands are proposed to analyze the feasibility and necessity of concurrent design. The evolution of robot hands partly shows relationship between the degree of freedom and control. In the design of four-bar linkages driven by motor, the mass-distribution is used to counteract the fluctuation of system and improve the performance. At the same time, this paper applies an adaptive neuron PID controller for nonlinear time-variable system. It efficiently lessens the fluctuation, accompanying with mass-redistribution. At last, this paper simulates the dynamic performance of four-bar linkages driven by motor under the help of MATLAB software package to prove the conclusion mentioned above.
引文
1 姚燕安，颜鸿森，张策，邹慧君．凸轮机构与伺服控制系统的集成设计．中国科学E辑，2000，30(6)：524-530
2 周双林，邹慧君，姚燕安，郭为忠．可控机构的研究现状及发展展望．机械设计与研究．2000年增刊：35—36
3 邹慧军，郭为忠，田永利．加强现代机构学的研究，推动机械产品创新设计的发展．机械设计与研究，2001 Vol．17 No．1 Dec.:10-12
4 邹慧军，张青，田志斌．机电一体化系统概念设计过程模型的研究．机械设计与研究，2002年 Vol．18 No．5 Oct.:11—12
5 邹慧军，李瑞琴．电机驱动型广义机构概念设计知识库的建立方法和应用．机械设计与研究，2002 Vol．18 No．1 Feb：10—12
6 邹慧君，田永利，郭为忠．现代机构学的形成、基本内容和应用前景．机械设计与研究，2002 Vol．18 No．2 Apr.:10-12
7 李瑞琴，邹慧君．可控机构的分类及应用．机械设计与研究，2002 Vol．18 No．4 Aug.:17-19
8 田志斌，邹慧君，郭为忠．机电耦合广义执行机构的研究．机械设计与研究，2000年增刊：37-39
9 程光蕴，贺惠农．两自由度连杆机构精确实现平面轨迹的研究．东南大学学报，1990，20(3)：7-11
10 孔建益，W.funk，扬金堂．受控机构学的研究现状和发展展望．中国机械工程，1998，9(1)：55-57
11 IAN TAO and J.P. SADLER. CONSTANT SPEED CONTROL OF A MOTOR DRIVEN MECHANISM SYSTEM. Mechanism and Machine Theory, 1995,30(5):737-748
12 ING-CHANG LIN and JIAN-SHIANG CHEN. EXPERIMENTS TOWARD MRAC DESIGN FOR LINKAGE SYSTEM. Mechatronics, 1996,6(8):933-953
13 K.Youcef-Toumi and A.T.Y. Kuo. High-Speed Trajectory Control of a Direct-Drive Manipulator IEEE TRANSACTIONS ON ROBOBTICS AND AUTOMATION, 1993,9(1):102-108
14 FAN YU. CHEN. Gripping mechanisms for industrial robots. Mechanism and Machine Theory.1982 ,17(5):299-311
15 叶军，张新华．欠驱动两指多指杆机器人手的操作过程和抓力分析．机械设计与研究 2001，09，17(3)：24—25
16 叶军．一种欠驱动多指杆机器人手．机械设计，1999，12(12)：11—13
17 FAN YU. CHEN. GRIPPING MECHANSIM FOR INDUSTRIAL ROBOTS. Mechanism and Machine Theory,1982. Vol. 17. No. 5:299-311
18 George O'Neal. AN ANALYTICAL APPROACH TO INTEGRATED STRUCTURAL AND CONTROL DESIGN. A dissertation for Ph.D in the University of Michigan 2001
19 R. Caracciolo, A.Trevisani. Simultaneous rigid-body motion and vibration control of a flexible four-bar linkage. Mechanism and Machine Theory 36(2001): 221-243
20 Q. Li, S.K. Tso, L.S. Guo, W.J. Zhang. Improving mition tracking of servemotor-driven closed-loop mechanisms using mass-redistribution. Mechanism and Machine Theory, 2000,35(6):1033-1045
21 Q. Li, W.J. Zhang, L. Chen. Design for Control-A Concurrent Engineering Approach for Mechatronic Systems Design. IEEE/ASME TRANSACTIONS ON MECHATRONICS, VOLG, NO. 2, JUNE 2001:161-169
22 W. J. Zhang, Q. Li and L. S. Guo. Integrated Design of Mechanical Structure and Control Algorithm for a Programmable Four-Bar Linkage. IEEE/ASME TRANSACTIONS ON MECHATRONICS, VOL. 4, NO. 4 DECEMBER 1999:354-362
23 W.J. Zhang and X.B. Chen. Mechatronics design for a programmable closed-loop mechanism. Proc Instn Mech Engrs. 2001, Vol 215 PartC,
24 Roll Isermann. Modeling and Design Methodology for Mechatronic Systems. IEEE/ASME TRANSACTIONS ON MECHATRONICS, Vol. 1, No.1, March 1996:16-28
25 Kamal Youcef-Toum. Modeling, Design and Control Integration: A Necessary Step in Mechatonics. IEEE/ASME TRANSACTIONS ON MECHATRONICS, Vol. 1, No.1, March1996:29-38
26 Hendrik. M.J. Van Brussel. Mechatronics-A Powerful Concurrent Engineering Framework.. IEEE/ASME TRANSACTIONS ON MECHATRONICS, Vol. 1, No. 2, June 1996:127-136
27 Nobuhiro Kyura and Hirosuke. Oho. Mechatronics-An Industrial Perspective. IEEE/ASME TRANSACTIONS ON MECHATRONICS, Vol. 1, No.1, March 1996:10-15
28 HAMZA DIKEN. TRAJECTORY CONTROL OF MASS BALANCED MANIPULATORS. Mech. Mach. Thory, 1995,32(3):313-321
29 W.J. ZHANG and X B CHEN. Mechatronics design for a programmable closed-loop mechanism, Proc instn Mech Engrs, 2001年Vol 215 Prat C:365-375
30 Hong-Sen Yan and Ren-Chung Soong. Kinematic and dynamic design of four-bar linkages by links counterweighing with variable input speed. Mechanism and Machine Theory, 2001(36) :1051-1071
31.TOKUZ DULGER and SERDAR UYAN.MODELLING, SIMULATION AND CONTROL OF A FOUR-BAR MECHANSIM WITH A BRUSHLESS SERVO MOTOR, Mechanics, 1997. Vol 7, No 4:369-383
32 AMOL ASHOK BHALERAO, POSITION CONTROL OF MULTI-DEGREE-OF-FREEDOM, MASS-SPRING-DAMPER SYSTEM, A THESIS OF MASTER OF SCIENCE. Texas A&M University, May, 2001
33 胡高举，郑才刚，王勤．一种铰链四杆机构运动分析仿真算法．现代机械工程．2002年(10)：76-78
34 覃虹桥，魏承辉，罗佑新．基于MATLAB软件的铰链四杆机构运动分析仿真软件开发．常德师范学院学报．2002年6月第14卷第2期：47—49
35 李燕．在MATLAB环境下开发平面四杆机构的运动分析系统．机械设计与应用．2002年12月第15卷第4期：7-9
36 W.H. Chen, D.J. Balance, P.J. Gawthrop, J.J. gribble and J.O' Reilly. Nonlinear PID Predictive Controller. IEE Proc.-Control Theory Appl.,Vol.146, No. 6, November 1999:603-611
37 David A. Wismer and R. Chattergy. INTRODUCTION TO NONLINEAR OPTIMIZATION. NEW YORK ELSEVIER NORTH-HOLLAND Inc.,1978
38 张策．机械动力学．高等教育出版社，2000
39 余跃庆，李哲．现代机械动力学．北京工业大学出版社，1998
40 赵文峰．MATLAB控制系统设计与仿真．西安电子科技大学出版社，2002．3
41 尹泽明，丁春利．精通MATLAB6．清华大学出版社，2002．6
42 薛定宇，陈阳泉．基于MATLAB／Simulink的系统仿真技术与应用．清华大学出版社，2002．1
43 黄文梅，杨勇，熊桂林，成晓明．系统仿真分析与设计．国防科技大学出版社，2001．12
44 刘金琨．先进PID控制及其MATLAB仿真．电子工业出版社，2003．1
45 韩曾晋．自适应控制．清华大学出版社，1995．6
46 谢新民，丁峰．自适应控制系统．清华大学出版社，2002．7
47 张汉全，肖建，汪晓宁．自动控制理论．西南交通大学出版社，2000．2
48 常春馨．现代控制理论概论．机械工业出版社，1982．1
2 周双林，邹慧君，姚燕安，郭为忠．可控机构的研究现状及发展展望．机械设计与研究．2000年增刊：35—36
3 邹慧军，郭为忠，田永利．加强现代机构学的研究，推动机械产品创新设计的发展．机械设计与研究，2001 Vol．17 No．1 Dec.:10-12
4 邹慧军，张青，田志斌．机电一体化系统概念设计过程模型的研究．机械设计与研究，2002年 Vol．18 No．5 Oct.:11—12
5 邹慧军，李瑞琴．电机驱动型广义机构概念设计知识库的建立方法和应用．机械设计与研究，2002 Vol．18 No．1 Feb：10—12
6 邹慧君，田永利，郭为忠．现代机构学的形成、基本内容和应用前景．机械设计与研究，2002 Vol．18 No．2 Apr.:10-12
7 李瑞琴，邹慧君．可控机构的分类及应用．机械设计与研究，2002 Vol．18 No．4 Aug.:17-19
8 田志斌，邹慧君，郭为忠．机电耦合广义执行机构的研究．机械设计与研究，2000年增刊：37-39
9 程光蕴，贺惠农．两自由度连杆机构精确实现平面轨迹的研究．东南大学学报，1990，20(3)：7-11
10 孔建益，W.funk，扬金堂．受控机构学的研究现状和发展展望．中国机械工程，1998，9(1)：55-57
11 IAN TAO and J.P. SADLER. CONSTANT SPEED CONTROL OF A MOTOR DRIVEN MECHANISM SYSTEM. Mechanism and Machine Theory, 1995,30(5):737-748
12 ING-CHANG LIN and JIAN-SHIANG CHEN. EXPERIMENTS TOWARD MRAC DESIGN FOR LINKAGE SYSTEM. Mechatronics, 1996,6(8):933-953
13 K.Youcef-Toumi and A.T.Y. Kuo. High-Speed Trajectory Control of a Direct-Drive Manipulator IEEE TRANSACTIONS ON ROBOBTICS AND AUTOMATION, 1993,9(1):102-108
14 FAN YU. CHEN. Gripping mechanisms for industrial robots. Mechanism and Machine Theory.1982 ,17(5):299-311
15 叶军，张新华．欠驱动两指多指杆机器人手的操作过程和抓力分析．机械设计与研究 2001，09，17(3)：24—25
16 叶军．一种欠驱动多指杆机器人手．机械设计，1999，12(12)：11—13
17 FAN YU. CHEN. GRIPPING MECHANSIM FOR INDUSTRIAL ROBOTS. Mechanism and Machine Theory,1982. Vol. 17. No. 5:299-311
18 George O'Neal. AN ANALYTICAL APPROACH TO INTEGRATED STRUCTURAL AND CONTROL DESIGN. A dissertation for Ph.D in the University of Michigan 2001
19 R. Caracciolo, A.Trevisani. Simultaneous rigid-body motion and vibration control of a flexible four-bar linkage. Mechanism and Machine Theory 36(2001): 221-243
20 Q. Li, S.K. Tso, L.S. Guo, W.J. Zhang. Improving mition tracking of servemotor-driven closed-loop mechanisms using mass-redistribution. Mechanism and Machine Theory, 2000,35(6):1033-1045
21 Q. Li, W.J. Zhang, L. Chen. Design for Control-A Concurrent Engineering Approach for Mechatronic Systems Design. IEEE/ASME TRANSACTIONS ON MECHATRONICS, VOLG, NO. 2, JUNE 2001:161-169
22 W. J. Zhang, Q. Li and L. S. Guo. Integrated Design of Mechanical Structure and Control Algorithm for a Programmable Four-Bar Linkage. IEEE/ASME TRANSACTIONS ON MECHATRONICS, VOL. 4, NO. 4 DECEMBER 1999:354-362
23 W.J. Zhang and X.B. Chen. Mechatronics design for a programmable closed-loop mechanism. Proc Instn Mech Engrs. 2001, Vol 215 PartC,
24 Roll Isermann. Modeling and Design Methodology for Mechatronic Systems. IEEE/ASME TRANSACTIONS ON MECHATRONICS, Vol. 1, No.1, March 1996:16-28
25 Kamal Youcef-Toum. Modeling, Design and Control Integration: A Necessary Step in Mechatonics. IEEE/ASME TRANSACTIONS ON MECHATRONICS, Vol. 1, No.1, March1996:29-38
26 Hendrik. M.J. Van Brussel. Mechatronics-A Powerful Concurrent Engineering Framework.. IEEE/ASME TRANSACTIONS ON MECHATRONICS, Vol. 1, No. 2, June 1996:127-136
27 Nobuhiro Kyura and Hirosuke. Oho. Mechatronics-An Industrial Perspective. IEEE/ASME TRANSACTIONS ON MECHATRONICS, Vol. 1, No.1, March 1996:10-15
28 HAMZA DIKEN. TRAJECTORY CONTROL OF MASS BALANCED MANIPULATORS. Mech. Mach. Thory, 1995,32(3):313-321
29 W.J. ZHANG and X B CHEN. Mechatronics design for a programmable closed-loop mechanism, Proc instn Mech Engrs, 2001年Vol 215 Prat C:365-375
30 Hong-Sen Yan and Ren-Chung Soong. Kinematic and dynamic design of four-bar linkages by links counterweighing with variable input speed. Mechanism and Machine Theory, 2001(36) :1051-1071
31.TOKUZ DULGER and SERDAR UYAN.MODELLING, SIMULATION AND CONTROL OF A FOUR-BAR MECHANSIM WITH A BRUSHLESS SERVO MOTOR, Mechanics, 1997. Vol 7, No 4:369-383
32 AMOL ASHOK BHALERAO, POSITION CONTROL OF MULTI-DEGREE-OF-FREEDOM, MASS-SPRING-DAMPER SYSTEM, A THESIS OF MASTER OF SCIENCE. Texas A&M University, May, 2001
33 胡高举，郑才刚，王勤．一种铰链四杆机构运动分析仿真算法．现代机械工程．2002年(10)：76-78
34 覃虹桥，魏承辉，罗佑新．基于MATLAB软件的铰链四杆机构运动分析仿真软件开发．常德师范学院学报．2002年6月第14卷第2期：47—49
35 李燕．在MATLAB环境下开发平面四杆机构的运动分析系统．机械设计与应用．2002年12月第15卷第4期：7-9
36 W.H. Chen, D.J. Balance, P.J. Gawthrop, J.J. gribble and J.O' Reilly. Nonlinear PID Predictive Controller. IEE Proc.-Control Theory Appl.,Vol.146, No. 6, November 1999:603-611
37 David A. Wismer and R. Chattergy. INTRODUCTION TO NONLINEAR OPTIMIZATION. NEW YORK ELSEVIER NORTH-HOLLAND Inc.,1978
38 张策．机械动力学．高等教育出版社，2000
39 余跃庆，李哲．现代机械动力学．北京工业大学出版社，1998
40 赵文峰．MATLAB控制系统设计与仿真．西安电子科技大学出版社，2002．3
41 尹泽明，丁春利．精通MATLAB6．清华大学出版社，2002．6
42 薛定宇，陈阳泉．基于MATLAB／Simulink的系统仿真技术与应用．清华大学出版社，2002．1
43 黄文梅，杨勇，熊桂林，成晓明．系统仿真分析与设计．国防科技大学出版社，2001．12
44 刘金琨．先进PID控制及其MATLAB仿真．电子工业出版社，2003．1
45 韩曾晋．自适应控制．清华大学出版社，1995．6
46 谢新民，丁峰．自适应控制系统．清华大学出版社，2002．7
47 张汉全，肖建，汪晓宁．自动控制理论．西南交通大学出版社，2000．2
48 常春馨．现代控制理论概论．机械工业出版社，1982．1