【摘要】 提出柔性机械臂末端振动主动控制的一个混合方法。该方法由整形技术 (InputshapingTechnique IST)和压电作动器 (PZT)的联合作用对机械臂的振动进行控制。IST作为前馈控制技术通过一个序列脉冲和输入扭矩的卷积来抑制机械臂的残留振动。然而 ,当IST的脉冲作用时间位置不够准确时 ,将降低机械臂的定位性能。为了提高柔性机械臂的定位精度 ,对于因脉冲不精确或建模不准所引起的残留振动 ,由PZT进行抑制。作用在PZT上的控制电压由线性二次最优调节器 (LQR)确定。动态仿真显示 ,提出的方法不仅对机械臂的振动抑制具有鲁棒性 ,而且使得PZT上的控制电压比单独使用PZT进行振动抑制时降低了 5 0 %以上 ,这是非常有利的。更多还原

【Abstract】 A hybrid scheme to actively control the endpoint of a flexible single link manipulator is proposed, where Input Shaping Technique(IST) is combined with a attached piezoceramic(PZT) actuator is combined to adjust the movement. IST is adopted to reduce the residual vibration in the flexible manipulator by convolving the desired torque with a sequence of impulses. A majority of the current IST is inherently open-loop, whose impulse application in inaccurate instance can lead to system performance degradation. To improve the control performance of a flexible manipulator, the residual vibration generated due to inaccurate impalse or the uncertainty model is further suppressed by the PZT. The optimal control voltage is determined by Linear Quadratic Regulator (LQR) technique. The dynamic simulation show that the proposed method has nice robustness property for suppressing the vibration due to inaccurate model or the instance of impulse application, and the voltage applied on the PZT decreases 50% compared with pure using PZT, in other words, the extra energy consumption is saved significantly with the method.更多还原