| 柔性机械臂变结构跟踪控制及柔性振动抑制 |
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| 引用本文： | 王三秀,俞立,徐建明,邢科新.柔性机械臂变结构跟踪控制及柔性振动抑制[J].武汉理工大学学报,2012,34(8):155-159. |
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| 作者姓名： | 王三秀 俞立 徐建明 邢科新 |
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| 作者单位： | 1. 浙江工业大学信息工程学院,杭州310032;台州学院物理与电子工程学院,台州318000
2. 浙江工业大学信息工程学院,杭州,310032 |
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| 基金项目： | 浙江省自然科学基金(Y1090505);浙江省教育厅资助项目(Y201121841) |
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| 摘 要： | 柔性机械臂具有质量轻、速度快和负载大的特点,针对柔性机械臂轨迹跟踪与弹性振动抑制问题,基于奇异摄动理论和两种时间尺度的假设,将柔性机械臂系统分解为代表大范围刚体运动的慢变子系统和代表柔性振动的快变子系统.对于慢变子系统采用变结构控制来实现关节轨迹的跟踪,而快变子系统则采用最优控制方法来对柔性杆振动进行主动抑制.仿真实验结果表明,该控制方法不仅能够保证系统刚性运动轨迹的精确跟踪,并能有效抑制柔性杆件的弹性振动.
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| 关 键 词： | 柔性机械臂 奇异摄动理论 变结构控制 柔性振动抑制 |
Variable Structure Trajectory Tracking Control and Active Vibration Suppression for Flexible Manipulator |
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| WANG San-xiu,YU Li,XU Jian-ming,XING Ke-xin.Variable Structure Trajectory Tracking Control and Active Vibration Suppression for Flexible Manipulator[J].Journal of Wuhan University of Technology,2012,34(8):155-159. |
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| Authors: | WANG San-xiu YU Li XU Jian-ming XING Ke-xin |
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| Affiliation: | 1(1.School of Information Engineering,Zhejiang University of Technology,Hangzhou 310032,China; 2.School of Physics and Electronic Engineering,Taizhou University,Taizhou 318000,China) |
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| Abstract: | Flexible manipulator has the advantages of light weight,high speed and large load characteristics,aiming at the flexible manipulator track a desired trajectory while suppress the beam vibration,the paper decouples the system of flexible-link manipulator into rigid motion(slow subsystem) and flexible vibration(fast subsystem) two different time scale subsystems based on singular perturbation theory.The slow subsystem adopts a variable structure controller to track the desired trajectory,while an optimal controller is used to stabilize the fast subsystem to damp out the vibration.The simulation results show that the controller has a good position tracking performance and also can suppress the elastic vibration effectively. |
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| Keywords: | flexible-link manipulator singular perturbation variable structure control flexible vibration control |
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