| Modeling and controlling of a flexible hydraulic manipulator |
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| 作者姓名： | 李光 吴敏 |
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| 作者单位： | [1]Department of Mechanical Engineering, Zhuzhou Institute of Technology, Zhuzhou 412008, China [2]School of Information Science and Engineering, Central South University, Chansha 410083, China |
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| 基金项目： | Foundation item： Project（60425310） supported by the National Natural Science Foundation of China |
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| 摘 要： | 1INTRODUCTION Themodelingofaflexiblemanipulatordrivenbyhydrauliccylinderactuatoranditscontrollingarecomplex.Firstly,thecouplingeffectsonrigidbodymotion,beamflexuralvibration,andhydrau licactuatordynamicsarestrong.Secondly,inad ditiontouncertaintiesoftheflexiblearm,therearelargevariationsinthehydraulicsystemparame ters13].Sofar,themode basedrobustcontrolofahydraulicallydrivenmanipulatorhasnotbeenwellstudiedandfewresultsareavailable.InRefs.46],thedevelopmentandverificationofageneralstate…
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| 关 键 词： | 工业机械手 动力学模型 操控器 水压模型 |
| 文章编号： | 1005-9784（2005）05-0578-06 |
| 收稿时间： | 2004-10-11 |
| 修稿时间： | 2004-12-10 |
Modeling and controlling of a flexible hydraulic manipulator |
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| Li Guang,and Wu Min.Modeling and controlling of a flexible hydraulic manipulator[J].Journal of Central South University of Technology,2005,12(5):578-583. |
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| Authors: | Li Guang and Wu Min |
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| Affiliation: | (1) Department of Mechanical Engineering, Zhuzhou Institute of Technology, 412008 Zhuzhou, China;(2) School of Information Science and Engineering, Central South University, 410083 Chansha, China |
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| Abstract: | A mathematical model was developed combining the dynamics of an Euler-Bernoulli beam, described by the assumed-mode method and hydraulic circuit dynamics. Only one matrix, termed drive Jacobian, was needed in the modeling of interaction between hydraulic circuit and flexible manipulator mechanism. Furthermore, a new robust controller based on mentioned above dynamic model was also considered to regulate both flexural vibrations and rigid body motion. The proposed controller combined sliding mode and backstepping techniques to deal with the non-linear system with uncertainties. The sliding mode control was used to achieve an asymptotic joint angle and vibration regulation by providing a virtual force while the backstepping technique was used to regulate the spool position of a hydraulic valve to provide the required control force. Simulation results are presented to show the stabilizing effect and robustness of this control strategy. |
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| Keywords: | dynamic modeling flexible manipulator sliding mode control backstepping control hydraulic actuator |
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