带有加速度反馈的柔性机械臂开关变结构控制的实验研究

为有效地抑制柔性机械臂的残余振动 ,提高其定位精度 ,本文提出了带有加速度反馈的柔性机械臂开关变结构控制 ,并进行了一系列系统的实验研究。首先将柔性机械臂的运动分成两个阶段 :第一阶段使其在控制力矩作用下做大角度刚体运动 ;第二阶段当柔性机械臂的运动临近终止状态时 ,通过逻辑开关 ,将柔性机械臂末端加速度反馈量接通 ,以产生抑制弹性振动的控制力矩 τ′0 ,实现终点定位的残余振动控制。然后进行了一系列的实验研究包括与传统的 PID控制和带有加速度反馈的全闭环反馈控制的比较 ,结果显示带有加速度反馈的柔性机械臂开关变结构控制能够实时、有效地抑制柔性臂的残余振动

An Experimental Study on the Switch Variable Structure Control of a F lexible Manipulator with Acceleration Feedback

In order to control the residual vibration timel y and effectively and to improve the position error of a flexible manipulator, t his paper presents a switch variable structure control strategy with acceleratio n feedback on the residual vibration of the flexible manipulator. It divides the operational movement of the flexible manipulator into two periods of time. The first period of time is that the flexible manipulator moves at large angle under the torque, and the second period of time is that the switch is set on so as to feedback the beam end acceleration to the controller. When the flexible manipul ator moves to the terminal state approximately, the controller generates additio nal torque that controls the residual vibration of a flexible manipulator effect ively. A series of experimental results including comparison with PID control st rategy and closed-loop strain feedback control strategy have proved that the sw itch variable structure control strategy with acceleration feedback is feasible and effective in reducing the residual vibration of flexible manipulators.