双连杆柔性臂轨迹跟踪的鲁棒控制
Robust Control for Trajectory Tracking of A Two-Link Flexible Manipulator
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摘要: 研究了双连杆柔性臂轨迹跟踪的鲁棒控制问题·基于假设模态法和奇异摄动法,导 出了双连杆柔性臂系统的动力学方程,并将系统模型分离为慢变和快变两个子系统.针对柔 性臂的特点,提出了关节角的补偿控制思想,并且给出了补偿控制算法.对两个子系统分别采 用滑模变结构控制和H∞控制,由此得到的组合控制使系统精确跟踪目标轨迹.研制了双连 杆柔性臂实验台,并对文中提出的方法进行了实验.Abstract: In this paper, the robust problem for trajectory tracking of a two link fiexible manipulator is studied. Based on assumed mode method and singular perturbation method, dynamical equations of a two link flexible manipulator are derived, and the system is divided into a fast subsystem and a slow subsystem. Considering the characteristics of a flexible manipulator, a compensated controller is designed for each joint angle. Sliding mode variable structure control and H∞ control are adopted respectively in the two sub-systems which together can follow the trajectory accurately. A tow-link flexible manipulator station is manufactured for experiments using the method.
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