基于分布参数模型的柔性臂变结构力控制  

Variable structure force control of flexible manipulator based on distributed parameter model

作　　者：曹小涛[1] 李元春[1] 

机构地区：[1]吉林大学通信工程学院,长春130022

出　　处：《控制与决策》2008年第9期1035-1039,共5页Control and Decision

基　　金：国家自然科学基金项目(60375030;60674091)

摘　　要：提出一种基于受约束柔性臂分布参数模型的变结构力控制方法,避免了集中参数模型的缺陷,解决了系统存在模型不确定性和外部干扰影响下的力控制问题.通过Lyapunov函数设计了系统的变结构控制器,其中滑模面设计为系统转动角、转动角速度和柔性臂根部应变的线性组合.利用线性算子半群理论和LaSalle不变集原理,证明了闭环系统的渐近稳定性.仿真结果验证了该方法的有效性.In this paper, the variable structure force control method is proposed based on the distributed parameter model of constrained flexible manipulator, the drawbacks of lumped parameter model are avoided and the force stabilization problem of the system with uncertain model and disturbance is resolved. The variable structure controller is designed by using the Lyapunov function method, and the sliding surface is selected as a linear combination of joint angle, joint angle velocity and root strain of flexible manipulator. The asymptotically stablility of the closed-loop system is proved by using the semigroup of linear operator and LaSalle invariance principle. Simulation results show the effectiveness of the method.

关 键 词：柔性臂 变结构控制 力控制 线性算子半群 

分 类 号：TP241[自动化与计算机技术—检测技术与自动化装置]