Construction of Penalty Function and Multi-modal Smooth
Transition Strategy

HU Xuxiao¹  PAN Xiaohong¹  HE Wei²  CHEN Gang³

(1. Institute of Modern Manufacturing Engineering, Zhejiang University, Hangzhou 310027;
2. Hangzhou Machine Tool Group Co., Ltd., Hangzhou 310022;
3. Zhejiang Texile & Fashion College, Ningbo 315211)

Abstract: In order to realize steady transition between the modes in intelligent control, a new penalty function is found combined with a kind of multi-mode divided method, and a multi-mode steady transition strategy is proposed based on the penalty function. Different from the usual way that each control strategy in view of each mode, different control strategies are promoted to all modes in the multi-mode steady transition strategy, the control quantity is the sum of all control strategies by weight, the function of the penalty function is made the weight of corresponding control strategy bigger, and that of other control strategies is punished in this mode. Finally, the steady transition strategy is confirmed by the experiment on the nano precision drive parts which have large feeding force.

Key words: Penalty function  Construct  Intelligent control  Steady transition

CLC No: TP2711

国家自然科学基金资助项目(50475102). Received 20070617, received in revised form 20071217

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