| 单柔性臂的滑模控制与主动控制比较研究 |
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| 引用本文： | 邹建奇,张宪滨,郎英彤.单柔性臂的滑模控制与主动控制比较研究[J].吉林建筑工程学院学报,2011(5):5-8. |
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| 作者姓名： | 邹建奇 张宪滨 郎英彤 |
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| 作者单位： | 吉林建筑工程学院土木工程学院; |
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| 基金项目： | 吉林省科技发展资助项目(20040535); 吉林省教育厅科技规划项目(200697) |
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| 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...
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| 关 键 词： | 柔性臂 奇异摄动 滑模控制 最优控制 主动控制 |
Sliding Mode Control Compared With the Active Control for One-link Flexible Manipulator |
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| ZOU Jian-qi,ZHANG Xian-bin,LANG Ying-tong.Sliding Mode Control Compared With the Active Control for One-link Flexible Manipulator[J].Journal of Jilin Architectural and Civil Engineering,2011(5):5-8. |
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| Authors: | ZOU Jian-qi ZHANG Xian-bin LANG Ying-tong |
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| Affiliation: | ZOU Jian-qi,ZHANG Xian-bin,LANG Ying-tong (School of Civil Engineering,Jilin Institute of Architecture and Civil Engineering,Changchun,China 130118) |
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| 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... |
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| Keywords: | flexible manipulator singular perturbation sliding mode control optimal control active control |
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