| 基于奇异摄动的柔性机械手预测控制 |
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| 引用本文： | 张奇志 孙增圻 等. 基于奇异摄动的柔性机械手预测控制[J]. 机械科学与技术, 2001, 20(2): 172-173 |
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| 作者姓名： | 张奇志 孙增圻 等 |
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| 作者单位： | [1]北京机械工业学院，北京100085 [2]清华大学，北京100084 |
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| 基金项目： | 国家自然科学基金项目! (69685 0 0 2 )，原机械部教育司基金项目资助 |
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| 摘 要： | 讨论了柔性机械手末端位置的控制问题。采用奇异摄动方法将柔性机械臂系统动力学方程分解为慢变(刚性 )和快变 (弹性 )两个子系统。给出了一种预测控制与 I/ O反馈线性化相结合的混合控制方法。该方法采用预测控制消除柔性机械手的弹性振动 ,可避免逆动力学和 I/ O反馈线性化控制遇到的零动力学不稳定问题。通过一个柔性机械手的仿真表明 ,本文提出的控制方法可实现柔性机械手末端轨迹的准确跟踪 ,同时能消除柔性机械手的弹性振动。
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| 关 键 词： | 预测控制 柔性机械手 奇异摄动 |
| 文章编号： | 1003-8728(2001)02-0172-02 |
| 修稿时间： | 2000-01-04 |
Predictive Control of Flexible Manipulator Based on Singular Perturbation |
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| ZHANG Qi-zhi,SUN Zeng-qi,SUN Fu-chun. Predictive Control of Flexible Manipulator Based on Singular Perturbation[J]. Mechanical Science and Technology for Aerospace Engineering, 2001, 20(2): 172-173 |
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| Authors: | ZHANG Qi-zhi SUN Zeng-qi SUN Fu-chun |
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| Affiliation: | ZHANG Qi-zhi1,SUN Zeng-qi,SUN Fu-chun |
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| Abstract: | The tip-position control of flexible manipulator is discussed. Using the singular perturbation theory, the full-order flexible dynamics system is decomposed into slow(rigid) and fast(flexible) subsystems. An integrated control method of predictive control and I/O feedback linearization is developed. The predictive control is utilized to damp the flexible vibrations. The instability of the zero dynamics encountered in the inverse dynamics control and I/O feedback linearization can be avoided. Digital simulation results for a single flexible manipulator is given to show that accurate tip-point trajectory tracking and vibration damping can be accomplished in the closed-loop system. |
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| Keywords: | Predictive control Flexible manipulator Stability |
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