| 柔性机械臂的动力学模型及滑模变结构控制 |
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| 引用本文： | 刘才山,刘又矢.柔性机械臂的动力学模型及滑模变结构控制[J].振动与冲击,1998,17(1):24-29. |
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| 作者姓名： | 刘才山 刘又矢 |
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| 作者单位： | 天津大学机械工程系
(刘才山，刘又午)，天津大学机械工程系(王建明) |
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| 基金项目： | 自然科学基金资助项目。 |
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| 摘 要： | 本文针对轴向不伸长的Euler-Bernouli梁模型,采用假设模态法,对带有末端荷载的柔性机械臂,推导出考虑动力刚化影响的柔性机械臂有限维一致线性化动力模型.通过极点配置技术设计滑模超曲面参数,采用滑模变结构控制方法,实现关节转角的运动轨迹控制.采用LQR方法设计弹性模态稳态器,抑制由于刚体运动而激发的弹性振动.文中最后针对一单杆柔性机械臂进行了计算机仿真,验证了本文所提出的控制策略的有效性.
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| 关 键 词： | 柔性机械臂 动力刚化 变结构控制 LQR方法 动力学建模 |
DYNAMIC MODELING AND VARIABLE STRUCTURE CONTROL OF A FLEXIBLE BEAM |
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| Liu Caishan Liu Youwu Wang Jianming.DYNAMIC MODELING AND VARIABLE STRUCTURE CONTROL OF A FLEXIBLE BEAM[J].Journal of Vibration and Shock,1998,17(1):24-29. |
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| Authors: | Liu Caishan Liu Youwu Wang Jianming |
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| Affiliation: | Mechanical Department of Tianjin University |
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| Abstract: | In the paper, a consistent linear dynamic model in finite dimensions of a horizontally slewing inextensible Euler-Bernouli beam, taking into account the Dynamic Stiffening effectand a tip payload, is derived by using mode assumption method. A pole assignment technique is used to design the coefficients of the sliding surface. A Variable Structure Control (VSC) method is applied to achieve the joint angle trajectory tracking. To suppress the simultaneous elastic vibrations in movement, a stabilization device for elactic modes is designed by using the LQR control method. Numerical simulation results for a single-link flexible beam are presented to show the effectiveness of the proposed control strategy. |
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| Keywords: | dynamic stiffening flexible beam LQR control VSC control dynamic modelling |
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