区分快慢变子系统的柔性机械臂组合控制  

Flexible Manipulator Combination Control by Distinguishing Fast and Slow Subsystems

作　　者：方俊[1] FANG Jun(Northern Beijing Vocational Education Institute, Beijing 101400, China)

机构地区：[1]北京京北职业技术学院,北京101400

出　　处：《组合机床与自动化加工技术》2018年第5期116-119,共4页Modular Machine Tool & Automatic Manufacturing Technique

基　　金：国家自然科学基金资助项目(51375433)

摘　　要：为了提高柔性机械臂控制精度,文章设计了区分快变子系统与慢变子系统的组合控制器。使用拉格朗日方程和假设模态法建立了动态方程,使用奇异摄动分解法将系统分为快变子系统与慢变子系统;提出了自适应滑膜变结构控制,设计慢变子系统控制器;使用极值原理求解了快变子系统最优控制问题,从而给出了快慢变子系统组合控制。通过仿真验证,相比于传统滑膜变组合控制,自适应组合控制器的调节时间短、跟踪过程无震荡,且自适应组合控制器输出平滑无抖振。To improve flexible manipulator control precision,combination controller by distinguishing fast and slow subsystem is designed.Lagrange equation and assumption mode method are used to establish dynamic equation.Singular perturbation strategy is used to distinguish fast and slow subsystem.Adaptive synovial structure is proposed,and slow subsystem controller is designed.Fast subsystem optimum control is solved by extremum principle,so that combination control of fast and slow subsystem is given.By trial,combined with traditional synovial structure combination controller,setting time of adaptive combination is short,and no shock in tracking process.Besides,adaptive combination controller output is smooth and chattering free.

关 键 词：柔性机械臂 组合控制器 自适应滑膜变结构 极值原理 最优控制 

分 类 号：TH165[机械工程—机械制造及自动化] TG659[金属学及工艺—金属切削加工及机床]