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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。
According to the singular perturbation theory and the assumption of two kinds of time scales, the flexible manipulator system is decomposed into a large-scale Slow-moving sub-system of rigid body motion and fast-changing sub-system of flexible vibration. For variable-speed subsystems, variable-structure control is used to track joint trajectories, while fast-acting subsystems use the optimal control method to actively suppress the vibration of flexible rods. Simulation results show that this control method can not only ensure accurate tracking of the rigid track of the system, but also effectively restrain the elastic vibration of the flexible rod.