| 柔性机械臂的位置主动控制 |
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| 引用本文： | 蔡国平,洪嘉振.柔性机械臂的位置主动控制[J].机械科学与技术(西安),2005,24(10):1178-1180,1216. |
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| 作者姓名： | 蔡国平 洪嘉振 |
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| 作者单位： | 上海交通大学工程力学系,上海200240 |
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| 基金项目： | 国家自然科学基金项目（10472065）,上海市自然科学基金项目（03ZR14062）和上海市“曙光计划”项目资助 |
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| 摘 要： | 采用一次近似模型对柔性机械臂的运动跟踪主动控制问题进行研究,控制策略采用最优跟踪控制方法。仿真结果显示,一次近似模型能够较好地对柔性机械臂的动力学行为进行描述,最优跟踪控制方法能使机械臂到达期望的指定位置,并可使机械臂的残余振动得到抑制。
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| 关 键 词： | 零次近似模型 一次近似模型 最优跟踪控制 |
| 文章编号： | 1003-8728（2005）10-1178-03 |
| 收稿时间： | 2004-03-30 |
| 修稿时间： | 2004-03-30 |
Active Position Control of a Flexible Manipulator |
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| CAI Guo-ping, HONG Jia-zhen.Active Position Control of a Flexible Manipulator[J].Mechanical Science and Technology,2005,24(10):1178-1180,1216. |
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| Authors: | CAI Guo-ping HONG Jia-zhen |
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| Affiliation: | Department of Engineering Mechanics. Shanghai Jiaotong University, Shanghai 200240 |
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| Abstract: | In this paper, a first-order approximation model is used for active position control of the flexible manipulator, in which the optimal controller is designed by the optimal tracking control theory. Simulation results demonstrate that the first-order approximation model can accurately describe the dynamics of the flexible manipulator system. The desired position of the manipulator can be obtained by the optimal tracking controller and the residual vibration of the manipulator can be repressed as well. |
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| Keywords: | Position control First-order approximation model Optimal tracking control |
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