【摘要】 探讨了梢端带刚体的柔性机械臂系统的动力学模型,对它存在的解耦的弯曲振动和扭转振动设计了一种形式简单的反馈控制律,用两个控制电机实现抑振和目标定位。使用H ilbert空间讨论系统特征值问题。在有限维近似模态分析基础上进行数值分析与模拟,得到系统弯曲振动、扭转振动的抑振控制效果曲线图。模拟结果与他人的试验结果比较,证实了所提出的控制律在削减振幅和快速抑振方面的有效性。更多还原

【Abstract】 A dynamic model of a flexible robot arm with a rigid body at its tip is explored.A simpler feedback(control) law is designed for its uncoupled bending and torsional vibrations.Two control motors are used to suppress the(vibrations) and to make the robot arm reach a designed position.Its eigenvalue problem is discussed in Hilbert spaces.Based on the modal analysis with approximately finite modes,the numerical analysis and simulation are carried out and show the evident control results of suppressing the bending and torsional vibrations.Compared with the experiments made by others,the simulation results demonstrate the effectiveness of the proposed control law in fast suppressing the vibrations and attenuating their amplitudes.更多还原