单杆柔性机械臂的轨迹跟踪与末端弹性振动复合控制
发布时间：2019-04-23 12:08
【摘要】：针对单杆柔性机械臂末端轨迹跟踪和弹性振动抑制的问题,提出了一种基于奇异摄动法的复合控制方法。采用假设模态法和Lagrange方程推导出柔性臂的动力学模型。基于奇异摄动法将柔性臂的刚柔耦合动力学方程分解成慢变(刚性)和快变(弹性)两个子系统。慢变子系统控制器选择滑模控制和PID控制相结合的方法以抑制控制输入引起的抖振,快变子系统则选择LQR最优控制方法以实现简单的线性状态反馈控制律。数值仿真表明:该方法不仅能实现柔性臂的轨迹跟踪,而且有效地抑制了柔性臂运动过程中的弹性振动。并且,采用滑模控制和PID控制相结合的方法设计的慢变子系统控制,能减少普通滑模控制中的输入抖振,具有更好的控制效果。
[Abstract]:A compound control method based on singular perturbation method is proposed to solve the problems of trajectory tracking and elastic vibration suppression of a single-bar flexible manipulator. The dynamic model of the flexible arm is derived by using the hypothetical mode method and Lagrange equation. Based on the singular perturbation method, the rigid-flexible coupling dynamic equations of flexible arms are decomposed into two subsystems: slow-varying (rigid) and fast-varying (elastic) subsystems. Sliding mode control and PID control are combined to suppress chattering caused by control input in slow variable subsystem, while LQR optimal control method is chosen to realize simple linear state feedback control law in fast variable subsystem. Numerical simulation shows that this method can not only track the trajectory of the flexible arm, but also effectively restrain the elastic vibration of the flexible arm. Moreover, the slow variable subsystem control designed by the combination of sliding mode control and PID control can reduce the input buffeting in the ordinary sliding mode control, and has better control effect.
【作者单位】： 江苏建筑职业技术学院机电工程学院;中国矿业大学机电工程学院;
【基金】：江苏省科技项目(BK20150186) 江苏高校优势学科建设工程资助项目
【分类号】：TP241
[Abstract]:A compound control method based on singular perturbation method is proposed to solve the problems of trajectory tracking and elastic vibration suppression of a single-bar flexible manipulator. The dynamic model of the flexible arm is derived by using the hypothetical mode method and Lagrange equation. Based on the singular perturbation method, the rigid-flexible coupling dynamic equations of flexible arms are decomposed into two subsystems: slow-varying (rigid) and fast-varying (elastic) subsystems. Sliding mode control and PID control are combined to suppress chattering caused by control input in slow variable subsystem, while LQR optimal control method is chosen to realize simple linear state feedback control law in fast variable subsystem. Numerical simulation shows that this method can not only track the trajectory of the flexible arm, but also effectively restrain the elastic vibration of the flexible arm. Moreover, the slow variable subsystem control designed by the combination of sliding mode control and PID control can reduce the input buffeting in the ordinary sliding mode control, and has better control effect.
【作者单位】： 江苏建筑职业技术学院机电工程学院;中国矿业大学机电工程学院;
【基金】：江苏省科技项目(BK20150186) 江苏高校优势学科建设工程资助项目
【分类号】：TP241
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