基于滑模变结构的柔性机械臂振动控制

目的为了消除柔性机械臂的弹性振动,保证机械臂稳定运行。方法以水平运动的单杆柔性机械臂为研究对象,建立动力学模型,并以此为依据运用奇异摄动法将动力学方程分解为慢变和快变2个子系统,对2个子系统分别采用反演滑模变结构和模糊控制的手段进行控制,最后利用ADAMS和Matlab软件进行联合仿真,将控制结果与传统PID控制进行对比分析。结果稳定时间、振动量、角速度、控制力矩都得到提高,此种控制方式与传统的PID控制相比,平稳时间缩短了75%。结论该控制方法能够很好地对柔性机械臂进行振动控制,且控制效果明显强于传统的PID控制。

Vibration Control of Flexible Manipulator Based on Sliding Mode Variable Structure

The work aims to eliminate the elastic vibration of the flexible manipulator and ensure the stable operation of the manipulator. With the horizontally moving single-link flexible manipulator as the study object, a dynamic model was established, based on which the dynamic equation was decomposed into slow and fast sub-systems in the singular perturbation method. These two sub-systems were controlled respectively by means of back-stepping sliding mode variable structure and fuzzy control. Finally, ADAMS and MATLAB software were used for joint simulation to comparatively analyze the control results and the traditional PID control. The stability time, vibration quantity, angular velocity and control moment were all improved. Compared to traditional PID control, the stability time of such control mode was shortened by 75%. The results show that this control method is good for vibration control of flexible manipulator, and the control effect is significantly better than the traditional PID control.