双连杆柔性机械臂的主动控制  

Active Control of Two-Link Flexible Manipulator

作　　者：杜欣[1] 蔡国平[1] 

机构地区：[1]上海交通大学工程力学系,上海200240

出　　处：《上海交通大学学报》2009年第8期1248-1253,共6页Journal of Shanghai Jiaotong University

基　　金：国家自然科学基金资助项目资助(10772112;10472065);教育部重点项目(107043);教育部博士点基金资助项目(20070248032);上海市教育委员会科研创新重点项目资助(09ZZ17)

摘　　要：对柔性双连杆机械臂位置的主动控制进行研究,给出系统的动力学方程,采用非线性解耦反馈控制方法分别得出系统大范围运动方程和柔性臂的动力学方程,并采用机械臂逆动力学方法和LQR方法分别设计大范围运动控制律和压电作动器控制律.仿真结果表明,该控制方法能够有效地控制机械臂到达的指定位置,并且抑制柔性臂的弹性振动.Active position control of two-link flexible manipulator was studied using PZT actuators. The dynamic equation of the system is presented using the Lagrange principle. Then the large overall motion equation and the equation of the two flexible links are obtained using the nonlinear decoupling feedback control method. Finally, the controllers of joint torque of the PZT actuators are designed using the inverse dynamic method and the LQR method, respectively. The simulation results indicate that the desired position of system may be achieved by the proposed controller. The residual vibration of the two links may be suppressed by this controller as well.

关 键 词：双连杆柔性机械臂 压电作动器 主动控制 

分 类 号：O313.7[理学—一般力学与力学基础]