带有应变反馈的柔性机械臂开关变结构控制的实验研究

为实时，有效地抑制柔性机械臂的残余振动，提高春定位精度，提出了柔性机械臂的开关变结构控制，并进行了实验研究，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，将柔性梁应变反馈量接通，以产生控制力矩，实现残余振动抑制，与传统的PID控制和带有应变反馈的全闭环反馈控制的比较结果显示，开关变结构控制能够有效，实时地抑制柔性残余振动。

An Experimental Study on the Switch Variable Structure Control of a Flexible Man ipulator with Strain Feedback

In order to control the residual vibration timely and effectively and to improve the position accuracy of a flexible manipulator, this paper presents a switch variable structure control strategy. It divides the operational movement of the flexible manipulator into two periods of time.In the first period of time,the flexible manipulator moves large angle under the torque, and in the second period of time,the switch is set on so as to feedback the beam strain to the controller. When the flexible manipulator moves to the terminal state approximately, the controller generates additional torque that controls the residual vibration of a flexible manipulator effectively. A series of experimental results including comparison with PID control strategy is and entirely loop strain feedback control strategy have proved that the switch variable structure control strategy correct and feasible to reduce the residual vibration of the flexible manipulators.