柔性机械臂振动的线性二次型最优控制  

Vibration Suppression of a Flexible Manipulator Based on Linear Quadratic Regulator

作　　者：李坤[1] 贠今天[1] 

机构地区：[1]天津工业大学机械电子学院,天津300160

出　　处：《河北工业大学学报》2008年第3期38-42,共5页Journal of Hebei University of Technology

基　　金：天津市高等学校科技发展基金计划项目(2006ZY09;20041103)

摘　　要：为抑制柔性机械臂的弹性振动,提高定位精度,推导出单杆柔性机械臂的动力学模型并对其进行线性化,针对线性化的系统模型,采用线性二次型最优调节器对柔性机械臂末端残余振动进行控制,仿真结果表明调节器抑振作用明显.In order to control the elastic vibration and improve the position accuracy of the flexible manipulator, the dynamic model of a single-link flexible manipulator has been derived and linearly parameterized. We apply the linear quadratic regulator to control the tip vibration of the flexible manipulator based on the model. Simulation results illustrates that the tip vibration is significantly suppressed.

关 键 词：柔性机械臂 振动抑制 线性二次型调节器 仿真验证 

分 类 号：TH113.1[机械工程—机械设计及理论]