| 液压柔性机械臂等效模型的鲁棒控制 |
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| 引用本文： | 曾克俭,李光.液压柔性机械臂等效模型的鲁棒控制[J].机械科学与技术(西安),2007,26(3):324-326. |
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| 作者姓名： | 曾克俭 李光 |
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| 作者单位： | 湖南工业大学,株洲412008 |
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| 摘 要： | 针对液压柔性机械臂的等效动力学模型——柔性负载电液位置伺服系统,提出了滑模控制和自适应反演控制相结合的鲁棒控制器设计方法。基于Lyapunov稳定性理论的系统稳定性分析,证明系统跟踪误差将收敛至零,同时控制了柔性负载的振动。仿真实例表明了设计方法的正确性。
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| 关 键 词： | 液压柔性机械臂 电液伺服系统 柔性负载 鲁棒控制 |
| 文章编号： | 1003-8728（2007）03-0324-03 |
| 修稿时间： | 2005-12-26 |
Robust Control of the Equivalent Dynamics Model of a Hydraulic Flexible Manipulator |
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| Zeng Kejian,Li Guang.Robust Control of the Equivalent Dynamics Model of a Hydraulic Flexible Manipulator[J].Mechanical Science and Technology,2007,26(3):324-326. |
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| Authors: | Zeng Kejian Li Guang |
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| Affiliation: | Hunan University of Technology, Zhuzhou 412008 |
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| Abstract: | For the purpose of the equivalent dynamics model of a hydraulic flexible manipulator,namely an electro-hydraulic position servo system with flexible load,the paper proposed a robust controller design method that combines sliding mode control and adaptive backstepping control.The servo system′s stability analysis based on the Lyapunov stability theory proves that its tracking errors may converge to zero and that the servo system can control the oscillation of flexible load.A simulation instance demonstrates the correctness of the design method. |
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| Keywords: | hydraulic flexible manipulator electro-hydraulic servo system flexible load robust control |
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