CN107272422A - The robust multivariable predictive control method of chip mounter drive system based on reference regulator - Google Patents
The robust multivariable predictive control method of chip mounter drive system based on reference regulator Download PDFInfo
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Abstract
The robust multivariable predictive control method of chip mounter drive system based on reference regulator, the present invention relates to the robust multivariable predictive control method of chip mounter drive system.The problems such as present invention is in order to solve to cause damage to chip mounter activation system by speed is excessive in motion process or cause chip mounter cisco unity malfunction more than the maximum input that chip mounter is provided because of control input.The present invention includes：First, the kinetic model that chip mounter drive system is moved along x-axis or y-axis is set up, and determines the constraints that chip mounter drive system is subject to；2nd, it is chip mounter Driving Scheme sampling controller；3rd, under conditions of assuming that the Unmarried pregnancy of chip mounter drive system and external disturbance be constant value, the size of the state of chip mounter drive system and control input when reference signal does not change is predicted；4th, design reference adjuster, makes chip mounter drive system meet the constraints in step one.The present invention is used for the robust multivariable predictive control field of chip mounter kinematic system.
Description
Technical field
The present invention relates to the robust multivariable predictive control field of chip mounter kinematic system, more particularly to chip mounter drive system
Robust multivariable predictive control method.
Background technology
During chip mounter works, according to difference the need for, may require that paster motor platform is full in motion process
Otherwise the certain constraints of foot, such as paster motor platform must can cause paster motor-driven flat in some range of motion
Platform hits the edge of chip mounter, and paster machine equipment is caused damage；The movement velocity of paster motor platform is also impossible to reach nothing
Limit is big, or being limited by chip mounter local environment causes the movement velocity of moving platform can not be excessive；Furthermore, in chip mounter work
When, it is that maximum voltage and electric current that chip mounter drive system can be provided all are limited, i.e., chip mounter drive system can be carried
The maximum control input supplied is limited, when required control input amount exceedes the maximum that shoe plate and drive system can be provided
When, chip mounter meeting can not normal work.Problem is suffered restraints, it is necessary to propose a kind of be based on reference to tune in order to solve these systems
Save the robust multivariable predictive control method of device.
The content of the invention
The invention aims to solve existing chip mounter drive system in motion process to exist because speed is excessive
And chip mounter activation system is caused damage or causes to paste because control input is inputted more than the maximum that chip mounter can be provided
The problems such as piece machine cisco unity malfunction, and propose the robust multivariable predictive control side of the chip mounter drive system based on reference regulator
Method.
The robust multivariable predictive control method of chip mounter drive system based on reference regulator comprises the following steps：
Step 1: setting up the kinetic model that chip mounter drive system is moved along x-axis or y-axis, state-space model table is used
Show, and determine the constraints that chip mounter drive system is subject to；X-axis is laterally, y-axis is longitudinal direction；
Step 2: the kinetic model set up according to step one, is chip mounter Driving Scheme sampling controller；
Step 3: under conditions of assuming that the Unmarried pregnancy of chip mounter drive system and external disturbance be constant value, in advance
Survey the size of the state of chip mounter drive system and control input when reference signal does not change；Chip mounter drive system
State includes displacement and the speed of paster motor platform；
Step 4: the result predicted according to step 3, design reference adjuster, make chip mounter drive system meet step one
In constraints.
Beneficial effects of the present invention are：
The inventive method is by design reference adjuster, the reference-input signal of real-time regulating system, so that system
State or control input are limited in restriction range.
The reference regulator designed using the present invention, effectively solves the constraint control problem of chip mounter drive system,
The displacement to paster motor platform can be realized, the constraint of speed and the control input size applied reaches that protection chip mounter is set
Purpose that is standby and ensureing control effect.From Fig. 5-9 as can be seen that during paster motor platform is run, chip mounter
Displacement is constrained within 400mm, and speed is also in the range of being constrained on and presetting, and control input amount is also small almost everywhere
In the 70% of maximum input level.
Brief description of the drawings
Fig. 1 is the closed-loop system of chip mounter drive system；
Fig. 2 is to be applied with the closed loop system block diagram after reference regulator；
Fig. 3 is that reference signal is step signal, the state of picking machine system moving platform when not applying reference regulator；
Fig. 4 is that reference signal is step signal, the control input of system when not applying reference regulator；
Fig. 5 is that reference signal is step signal, the movement locus of picking machine system moving platform during with reference regulator；
Fig. 6 is that reference signal is step signal, the movement velocity of picking machine system moving platform during with reference regulator；
Fig. 7 is that reference signal is step signal, the control input of system during with reference regulator；
Fig. 8 is that reference signal is r (t)=x0+100(1-cos(3.14t))(1-e-t), paster during with reference regulator
The state of machine system moving platform；
Fig. 9 is that reference signal is r (t)=x0+100(1-cos(3.14t))(1-e-t), system during with reference regulator
Control input.
Embodiment
Embodiment one：The robust multivariable predictive control method of chip mounter drive system based on reference regulator includes
Following steps：
Step 1: setting up the kinetic model that chip mounter drive system is moved along x-axis or y-axis, state-space model table is used
Show, and determine the constraints that chip mounter drive system is subject to；X-axis is laterally, y-axis is longitudinal direction；
Step 2: the kinetic model set up according to step one, is chip mounter Driving Scheme sampling controller；
Step 3: under conditions of assuming that the Unmarried pregnancy of chip mounter drive system and external disturbance be constant value, in advance
Survey the size of the state of chip mounter drive system and control input when reference signal does not change；Chip mounter drive system
State includes displacement and the speed of paster motor platform；
Step 4: the result predicted according to step 3, design reference adjuster, make chip mounter drive system meet step one
In constraints.
Multivariable Constrained refers to that the displacement to paster motor platform, speed and control input enter row constraint.
Embodiment two：Present embodiment from unlike embodiment one：Patch is set up in the step one
The kinetic model that piece machine drive system is moved along x-axis or y-axis, is represented with state-space model, and determines chip mounter drivetrain
The detailed process of constraints being subject to of uniting is：
Ignore the detent force and Coulomb friction power during the motion of paster motor platform, according to Newton's second law, set up paster
Motor platform along x-axis or y-axis direction move when kinetics equation, by the method for linear least squares method determine chip mounter drive
Systematic uncertainty parameter M and B, and external disturbance or Unmarried pregnancy boundary：
Wherein M ≈ 11kg ∈ [θ1min, θ1max]=[10kg, 15kg] be paster motor platform quality, θ1minAnd θ1maxPoint
Not Wei M the upper bound and lower bound,WithRespectively x (t) first derivative and second dervative, x (t) paster motor platforms
Displacement, u (t) is control input, B ≈ 7Ns/m ∈ [θ2min, θ2max]=[3Ns/m, 20Ns/m] it is viscous for moving platform
Resistance coefficient, θ2minAnd θ2maxRespectively the B upper bound and lower bound, d (t) represent chip mounter drive system in the process of running due to
Interference that the factors such as environment are subject to or some secondary process ignored when setting up chip mounter drive system mathematical modeling, claim respectively
For external interference and Unmarried pregnancy, the value in d (t) upper bounds is d0=1N, state-space model is rewritten as by above formula：
Whereinθ1=M, θ2=B, pact of the chip mounter drive system by following form
Beam：
WhereinFor the constraint set of chip mounter drive system, x1minAnd x1maxRespectively x1(t) desirable minimum value and maximum
Value, x2minAnd x2maxRespectively x2(t) desirable minimum value and maximum, uminAnd umaxDesirable respectively u (t) minimum value and
Maximum.
Other steps and parameter are identical with embodiment one.
Embodiment three：Present embodiment from unlike embodiment one or two：Root in the step 2
According to the kinetic model of step one foundation, the detailed process for being chip mounter Driving Scheme sampling controller is：
It is for the adaptively sampled controller of system design：
WhereinRepresent kT moment θ1Estimate,Represent kT moment θ2Estimate, Restrained for virtual controlling of sampling, paster motor platform is x in the position at kT moment1[k], site error is z1[k]=x1
[k]-r [k], speed is x2[k], speed difference is z2[k]=x2[k]-α1[k], r [k] is sampled input signal, when T is sampling
Between, k1、k2>0 is controller parameter,
For the robust in controller, ε is for adjustingWith sgn (h [k] z2K) ginseng of error size between
Number, tanh represents hyperbolic tangent function, and sgn represents sign function,RepresentBy smooth projection
Operator π1Value after (θ) effect,Represent by projection operator π2Value after (θ) effect, smooth projection
Operator πi(θ), i=1,2 should have following property
Following form specifically may be selected
εiFor for adjusting smooth projection operator πi(θ) and projection operatorBetween error size parameter,
Respectively parameter θ1With θ2Adaptive law Tuning function, should have following property：
If
Other
Following form specifically may be selected：
Wherein i=1,2；
Resulting closed loop system block diagram is as shown in Figure 1.
Other steps and parameter are identical with embodiment one or two.
Embodiment four：Unlike one of present embodiment and embodiment one to three：The step 3
In under conditions of assuming that the Unmarried pregnancy of chip mounter drive system and external disturbance be constant value, prediction when reference signal not
The detailed process of the size of the state of chip mounter drive system and control input is when changing：
Define discriminant function：
WhereinRepresent definition,Represent when input signal is that r [τ], initial position are x1, initial speed
Spend for x2When paster motor platform in the position at τ T moment,Represent when input signal is r [τ], initial bit
It is set to x1, initial velocity be x2When speed of the paster motor platform at the τ T moment,Represent when input signal is r
[τ], the position of paster motor platform areSpeed isWhen chip mounter drive system control input；
Assuming that the external interference and Unmarried pregnancy in t bak stay machine drive system are constant value, the ginseng of forecast model
Examine input signal vpt[k] is in Δ t0It is changed into constant value in time in following form：
Utilize the approximate model of chip mounter drive system：
The state and the maxima and minima x of control input of system in the prediction following Δ t periods1pmax,x1pmin,
x2pmax,x2pmin,upmax,upmin；Then now：
εvFor the constant more than 0, rc(t+kT) value for the reference signal after preliminary regulation at the t+kT moment.
Other steps and parameter are identical with one of embodiment one to three.
Embodiment five：Unlike one of present embodiment and embodiment one to four：The step 4
The middle result predicted according to step 3, the detailed process of design reference adjuster is：
Design reference adjuster is as follows：
V [k]=v [k-1]+κ [k] (rc[k]-v[k-1]),kT≤t<(k+1)T
Wherein v [k] is the output of reference regulator；κ [k]=K (x1[k],x2[k],v[k-1],rc[k]) it is with reference to tune
Save device parameter, K (x1[k],x2[k],v[k-1],rc[k]) it is defined as follows：
If causing in the presence of a constant λ ∈ [0,1]Then K (x1,x2,v,
rc) be defined as follows
WhereinExpression makes The maximum λ of establishment；
If making in the absence of λ ∈ [0,1]Set up, then
Other steps and parameter are identical with one of embodiment one to four.
Beneficial effects of the present invention are verified using following examples：
Embodiment one：
The resulting closed-loop control system block diagram for being applied with reference regulator is as shown in Figure 2.By reference regulator and control
Device is applied on specific chip mounter.It is 0.125ms to take the A/D sampling times, and desired output is step signal r (t)=100.If
Counting controller parameter is：k1=5000, k2=8000.Parameter adaptive coefficient is：γ1=γ2=100.Assuming that real system by
To following constraint
What Fig. 3 and Fig. 4 were provided respectively is the motion state of picking machine system moving platform and control when not applying reference regulator
System input size, it can be seen that because control input is excessive, having exceeded the maximum that chip mounter can be provided causes chip mounter system
System is shut down.What Fig. 5, Fig. 6 and Fig. 7 were provided is the movement locus of picking machine system moving platform when carrying reference regulator, motion speed
Degree and control input size.
Reference locus is r (t)=x0+100(1-cos(3.14t))(1-e-t), sampling time, controller parameter and parameter
Adaptation coefficient is constant.Assuming that real system is constrained as follows：
What Fig. 8 and Fig. 9 were provided respectively is the motion state of picking machine system moving platform and control when carrying reference regulator
Input size.
The present invention can also have other various embodiments, in the case of without departing substantially from spirit of the invention and its essence, this area
Technical staff works as can make various corresponding changes and deformation according to the present invention, but these corresponding changes and deformation should all belong to
The protection domain of appended claims of the invention.
Claims (5)
1. the robust multivariable predictive control method of the chip mounter drive system based on reference regulator, it is characterised in that：It is described to be based on
The robust multivariable predictive control method of the chip mounter drive system of reference regulator comprises the following steps：
Step 1: setting up the kinetic model that chip mounter drive system is moved along x-axis or y-axis, represented with state-space model, and
Determine the constraints that chip mounter drive system is subject to；X-axis is laterally, y-axis is longitudinal direction；
Step 2: the kinetic model set up according to step one, is chip mounter Driving Scheme sampling controller；
Step 3: under conditions of assuming that the Unmarried pregnancy of chip mounter drive system and external disturbance be constant value, prediction is worked as
The size of the state of chip mounter drive system and control input when reference signal does not change；The state of chip mounter drive system
Displacement and speed including paster motor platform；
Step 4: the result predicted according to step 3, design reference adjuster, make chip mounter drive system meet in step one
Constraints.
2. the robust multivariable predictive control method of the chip mounter drive system according to claim 1 based on reference regulator,
It is characterized in that：The kinetic model that chip mounter drive system is moved along x-axis or y-axis is set up in the step one, it is empty with state
Between model represent, and determine that the detailed process of the constraints that chip mounter drive system is subject to is：
Ignore the detent force and Coulomb friction power during the motion of paster motor platform, according to Newton's second law, set up paster motor-driven
Platform along x-axis or y-axis direction move when kinetics equation, chip mounter drive system is determined by the method for linear least squares method
Uncertain parameters θ1And θ2, and external disturbance or Unmarried pregnancy boundary：
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Wherein θ1∈[θ1min, θ1max] be paster motor platform quality, θ1minAnd θ1maxRespectively θ1The upper bound and lower bound,
For x1(t) first derivative, x1(t) it is the displacement of paster motor platform,For x2(t) first derivative, x2(t) it is paster
The movement velocity of motor platform, u (t) is the control input of chip mounter drive system, θ2∈[θ2min, θ2max] gluing for moving platform
Resistance hysteresis coefficient, θ2minAnd θ2maxRespectively θ2The upper bound and lower bound, d (t) represents the external interference that receives of chip mounter drive system
Or the Unmarried pregnancy of chip mounter drive system, its upper bound is d0；
Chip mounter drive system is constrained by following form：
WhereinFor the constraint set of chip mounter drive system, x1minAnd x1maxRespectively x1(t) minimum value and maximum, x2minWith
x2maxRespectively x2(t) minimum value and maximum, uminAnd umaxRespectively u (t) minimum value and maximum.
3. the robust multivariable predictive control method of the chip mounter drive system according to claim 2 based on reference regulator,
It is characterized in that：The kinetic model set up in the step 2 according to step one, is the sampling control of chip mounter Driving Scheme
The detailed process of device processed is：
It is for the adaptively sampled controller of system design：
Wherein T is the sampling time,Represent kT moment θ1Estimate,Represent kT moment θ2Estimate, α1[k] is
Virtual controlling of sampling rule, paster motor platform is x in the position at kT moment1[k], site error is z1[k], speed is x2[k],
Speed difference is z2[k], r [k] is sampled input signal, and u [k] represents the size of kT moment control inputs, k1、k2>0 is controller
Parameter, h [k] is the robust in controller, and ε is regulationWith sgn (h [k] z2[k]) between error size
Parameter, tanh represents hyperbolic tangent function, and sgn represents sign function,RepresentBy smooth projection operator π1
Value after (θ) effect,Represent by projection operator π2Value after (θ) effect；
Smooth projection operator πi(θ), i=1,2 is defined as follows
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I=1,2 is respectively parameter θ1With θ2Adaptive law Tuning function, its concrete form is as follows：
4. the robust multivariable predictive control method of the chip mounter drive system according to claim 3 based on reference regulator,
It is characterized in that：Assuming that the Unmarried pregnancy of chip mounter drive system and external disturbance are constant value in the step 3
Under conditions of, prediction when reference signal does not change the size of the state of chip mounter drive system and control input it is specific
Process is：
Define discriminant function：
Represent when input signal is that r [τ], initial position are x1, initial velocity be x2When paster motor platform
In the position at τ T moment,Represent when input signal is that r [τ], initial position are x1, initial velocity be x2When
Speed of the paster motor platform at the τ T moment,Represent when input signal is r [τ], the position of paster motor platform
It is set toSpeed isWhen chip mounter drive system control input；
Assuming that the external interference and Unmarried pregnancy in t bak stay machine drive system are constant value, the reference of forecast model is defeated
Enter signal vpt[k] is in Δ t0It is changed into constant value in time in following form：
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Utilize the approximate model of chip mounter drive system：
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The state and the maxima and minima x of control input of system in the prediction following Δ t periods1pmax,x1pmin,x2pmax,
x2pmin,upmax,upmin；Then now：
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εvFor the constant more than 0, rc(t+kT) value for the reference signal after preliminary regulation at the t+kT moment.
5. the robust multivariable predictive control method of the chip mounter drive system according to claim 4 based on reference regulator,
It is characterized in that：The result predicted in the step 4 according to step 3, the detailed process of design reference adjuster is：
Design reference adjuster is as follows：
V [k]=v [k-1]+κ [k] (rc[k]-v[k-1]),kT≤t<(k+1)T
Wherein v [k] is the output of reference regulator；κ [k]=K (x1[k],x2[k],v[k-1],rc[k]) it is reference regulator
Parameter, K (x1[k],x2[k],v[k-1],rc[k]) it is defined as follows：
If causing in the presence of a constant λ ∈ [0,1]Then K (x1,x2,v,rc) fixed
Justice is as follows
WhereinExpression makes The maximum λ of establishment；
If making in the absence of λ ∈ [0,1]Set up, then
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| CN111061216A (en) * | 2019-12-28 | 2020-04-24 | 哈尔滨工业大学 | Intelligent chip mounter motion system control method based on binary spline scale function |
| CN111273552A (en) * | 2020-03-16 | 2020-06-12 | 哈尔滨工业大学 | Chip mounter motion control method and system based on mathematical model |
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| CN111273552A (en) * | 2020-03-16 | 2020-06-12 | 哈尔滨工业大学 | Chip mounter motion control method and system based on mathematical model |
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