【作者】 王光庆； 郭吉丰；

【Author】 WANG Guang-qing, GUO Ji-feng(College of Electrical Engineering, Zhejiang University, Hangzhou, 310027)

【机构】 浙江大学电气工程学院；

【摘要】 针对水平面内绕定轴转动的柔性机械臂,利用变量代换和Hamilton原理,采用非约束模态法,推导出了其无量纲化的刚、柔解耦动力学方程和相应的频率方程。设计了基于频域内二次最优控制理论的应变反馈PID控制器,实现对柔性机械臂末端运动轨迹的精确跟踪控制,同时抑制机械臂的弹性振动。实例仿真验证了该控制策略的有效性和可行性。更多还原

【Abstract】 The dimensionless rigid-flexible decoupled dynamic model and the frequency equation of flexible manipulator which is rotating around a fixed axle in the horizontal plane, were explored according to unrestrained modal, variable substitution and Hamilton principle. In order to trace the tip angle trajectory precisely and suppress the elastic vibration in movement, a strain feedback PID controller was designed based on the theory of quadratic optimum control in frequency-domain. The numerical simulation results are shown to prove the effectiveness and feasibility of the control strategy.更多还原