线性二次型在柔性机械臂抑振控制中的研究  

Research on Linear Quadratic Optimal Control in Vibration Control of Flexible Manipulator

作　　者：郭珂甫 刘广瑞[1] 王庆海 GUO Ke-fu;LIU Guang-rui;WANG Qing-hai(School of Mechanical Engineering,Zhengzhou University,He’nan Zhengzhou 450001,China)

机构地区：[1]郑州大学机械工程学院,河南郑州450001

出　　处：《机械设计与制造》2018年第7期256-259,共4页Machinery Design & Manufacture

摘　　要：针对具有末端附加质量的柔性机械臂弹性振动问题,提出采用基于遗传算法的线性二次型控制方法对其进行抑振控制。首先分析了柔性机械臂的弹性变形问题,采用假设模态法描述弹性变形并基于Lagrange方程建立具有末端集中质量的柔性机械臂动力学模型。其次,推导出系统的控制模型,采用线性二次型最优控制对柔性机械臂系统进行抑振控制,并用遗传算法优化线性二次型性能指标函数中的加权矩阵。仿真实验结果表明,与传统的经验值相比,优化后的控制方法能有效衰减末端弹性振动,柔性机械臂系统端部定位速度更快,验证了该方法的可行性。In this paper,the method oflinear quadratic optimal control based on genetic algorithm is used to suppress vibration ofthe flexible manipulator with terminal added mass. Firstly,analyzethe elastic deformation of the flexible manipulator with assumed mode methods,using Lagrange equations to establish itsdynamics model with terminal addedmass. Secondly,the system control model is derived,using the linear quadratic optimal control methods to suppress the vibration of flexible manipulator system,and optimizing the weighting matrix of linear quadratic performance function using genetic algorithm.Simulation results show that compared with the traditional experience,the optimized control method can effectively attenuate the end of the elastic vibration of flexible arms,having faster positioning speed,verifying the feasibility of this method.

关 键 词：柔性机械臂 线性二次型 遗传算法 振动控制 

分 类 号：TH16[机械工程—机械制造及自动化] TP273[自动化与计算机技术—检测技术与自动化装置]