基于滑模控制的挠性机械臂振动抑制研究

发布时间：2018-03-05 11:09

本文选题：挠性机械臂　切入点：振动抑制　出处：《哈尔滨工业大学》2017年硕士论文　论文类型：学位论文

【摘要】：随着挠性机械臂在工业机器人和航天工程中的广泛应用,对于其振动抑制的研究越来越深入。本课题将对其建模方法以及控制器的设计方面进行深入研究,从而实现对其快速、可靠的控制。本文首先需要对所要研究的挠性臂进行动力学模型的推导。为此根据本文研究挠性臂的性质,将其抽象为Euler-Bernoulli梁。然后,利用Lagrange方程对挠性臂进行动力学模型的推导,通过实际测量的参数,计算得到它的状态空间方程,为后续的研究工作提供理论模型。基于PID控制理论,为挠性机械臂的振动抑制建立了PD控制器。通过对其进行仿真和实际测试,发现它可以快速实现挠性机械臂的定位过程,对挠性机械臂的振动也能起到很好地主动控制和削弱作用,但是超调量较大。其次,通过了解滑模控制基本理论,为挠性机械臂的振动抑制建立滑模控制器。通过对传统滑模控制器的仿真研究,发现它虽然可以很好地实现挠性臂的快速定位,但会引入高频的抖动现象。为此,对传统滑模控制器进行了改进,设计了积分型切换滑模控制器。通过对其进行仿真研究和实际测试,发现它可以在满足定位精度的前提下,对挠性机械臂的振动进行很好地控制,并能抑制高频抖动。然后,通过介绍分数阶微积分基本理论,将其应用到滑模控制器的设计中。为挠性机械臂设计分数阶指数趋近律滑模控制器,通过对其进行仿真研究和实际测试,得出它可以实现快速准确定位,并对挠性机械臂的振动进行很好地抑制,同时也抑制了高频抖动,达到了很好的控制效果。最后,设计了挠性机械臂振动抑制测试平台。在该平台上对各种控制算法的控制效果进行实际测试,并对得到了测试结果进行分析,得出各种控制方法对于挠性机械臂定位控制与振动抑制的优劣。
[Abstract]:With the wide application of flexible manipulator in industrial robot and aerospace engineering, the research on vibration suppression is more and more in-depth. Reliable control. In this paper, we first need to deduce the dynamic model of the flexible arm to be studied. Therefore, according to the properties of the flexible arm studied in this paper, we abstract it to a Euler-Bernoulli beam. The dynamic model of flexible arm is derived by using Lagrange equation, and its state space equation is calculated through the parameters measured in practice, which provides a theoretical model for further research. Based on the control theory of PID, the state space equation is obtained. PD controller is established for vibration suppression of flexible manipulator. Through simulation and practical test, it is found that the PD controller can quickly realize the positioning process of flexible manipulator. The vibration of flexible manipulator can also be actively controlled and weakened, but the overshoot is larger. Secondly, through understanding the basic theory of sliding mode control, A sliding mode controller is established for the vibration suppression of flexible manipulator. Through the simulation of the traditional sliding mode controller, it is found that although it can realize the fast positioning of the flexible arm, it will introduce the phenomenon of high frequency jitter. The traditional sliding mode controller is improved and the integrated switching sliding mode controller is designed. The vibration of flexible manipulator is well controlled and the high frequency jitter can be restrained. Then, by introducing the basic theory of fractional calculus, It is applied to the design of sliding mode controller. The fractional exponential approach law sliding mode controller is designed for flexible manipulator. The vibration of the flexible manipulator is well suppressed, and the high frequency jitter is also restrained, which achieves a good control effect. Finally, The vibration suppression test platform of flexible manipulator is designed. The control effect of various control algorithms is tested on the platform, and the test results are analyzed. The advantages and disadvantages of various control methods for position control and vibration suppression of flexible manipulator are obtained.
【学位授予单位】：哈尔滨工业大学
【学位级别】：硕士
【学位授予年份】：2017
【分类号】：TP241

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