| 带有反馈控制的柔性机械臂动态研究与振动控制 |
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| 引用本文： | 张铁民,李成元.带有反馈控制的柔性机械臂动态研究与振动控制[J].机械工程学报,2000,36(3):47-50. |
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| 作者姓名： | 张铁民 李成元 |
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| 作者单位： | 1. 南京航空航天大学机械工程系南京 210094
2. 燕山大学 |
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| 基金项目： | 国家863高科技发展基金和国家自然科学基金资助项目. |
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| 摘 要： | 带有反馈控制的柔性机械臂关节处边界条件不同于振动控制理论中的铰支梁或悬臂梁边界条件,为此,将其视为弹簧铰支,建立柔性机械臂动力学模型,并基于柔性臂的部分状态转速、转角及柔性梁应变的反馈,结合柔性臂机电耦合特性,得到了以柔性臂末端点转角θt为输出,以柔性臂给定转角θd为输入的传递函数.由频域的二次型目标函数,求得柔性臂应变反馈增益.一系列的试验结果证明理论分析的正确性.
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| 关 键 词： | 柔性机械臂 反馈控制 边界条件 振动 |
| 修稿时间： | 1997年5月29日 |
DYNAMIC STUDY AND VIBRATION CONIROL ON THE FLEXIBLE MANIPULATOR WITH FEEDBACK CONTROL |
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| Zhang Tiemin.DYNAMIC STUDY AND VIBRATION CONIROL ON THE FLEXIBLE MANIPULATOR WITH FEEDBACK CONTROL[J].Chinese Journal of Mechanical Engineering,2000,36(3):47-50. |
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| Authors: | Zhang Tiemin |
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| Affiliation: | Zhang Tiemin (Nanjing University of Aeronautics and Astrontics) Li Chengyuan (Yanshan University) |
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| Abstract: | The hub boundary condition of the flexible manipulator with feedback control is different from pinned free or clamped free hub boundary condition. So a pinned-spring boundary condition is used as the hub boundary condition. And the dynamic model of flexible manipulator and derived the transfer functions with the electric-mechanic coupling character are set up by using the tip angular position of the beam as output and the desired angular position as input. The linear quadratic objective function in time domain is transformed into an objective function in frequency domain according to the Parsvel theorem, and the strain feedback gains are got. A series of experimental results testify the theoretical analysis. |
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| Keywords: | Flexible manipulator Feedback control Boundary condition Vibration |
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