【摘要】 本文以单柔性机械臂为例,研究了基于奇异摄动理论的滑模控制,以及基于ACLD结构的主动控制问题.首先通过双时标变换,将系统分解为慢变子系统和快变子系统.针对慢变子系统,设计滑模控制器,以实现系统良好的轨迹跟踪性能,针对快变子系统,采用最优控制策略抑制其弹性振动.建立具有主动约束控制装置的主动控制方法的系统动力学模型,并对其物理参数进行配置.最后对两种控制方法进行了仿真分析.更多还原

【Abstract】 The sliding mode control and the active control with ACLD for one-link flexible manipulator were compared based on singular perturbation theory.The dynamic equation was divided into a slow subsystem and a fast subsystem by dual-time scale transform.A sliding mode controller is designed for the slow subsystem,the controller can realize trajectory tracking control in the large range.An optimal controller is designed for the fast subsystem to suppress the elastic vibration.At the same time,the system of active control with ACLD was built,and the physical parameters were configured.Simulation results show the comparative analysis of the proposed scheme.更多还原