MECHANICAL AND CONTROL INTEGRATION DESIGN METHOD BASED ON PREDICTION MODEL AND QUICK DISTURBANCE ELIMINATION

摘要

The present invention provides a mechanical and control integration design method, comprising: first building an initial model of a controlled object, and regarding the estimation of an undetermined part as a disturbance; performing parametric design to the determined part of the controlled object model to obtain a parameterized model; further truncating and simplifying the controlled object model according to dynamic response characteristics of the object model and the control target requirements to obtain an approximate model as a prediction model; measuring a system state, building a control performance judgment criterion, and calculating the difference with the calculation result of the prediction model to obtain the total disturbance of the system; designing a total disturbance eliminating link according to the order of the prediction model, and constructing and completing an auto-disturbance rejection controller.