带有应变反馈的柔性机械臂振动控制

摘要

基于柔性臂的部分状态反馈，结合柔性臂机电耦合特性，得到了以柔性臂末端点转角θt为输出，以给定转角θd为输入的传递函数。由Parseval定理，将时域的二次型目标函数转化为频域的二次型目标函数，得到柔性臂应变反馈增益。实验结果证明结合柔性臂机电耦合特性的应变反馈抑制柔性臂振动的有效性与合理性。%To improve the rejecting disturbance of the control system for a flexible manipulator, we present partial state feedback that consists of the beam strain, the hub angular position and the angular speed on the basis of the full state feedback theory. The linear quadratic objective function in time domain is transformed into an objective function in frequency domain according to the Parsval theorem, and the strain feedback gains are obtained. A series of experimental results verified the strain feedback control method, and comparative study with the PID control proves that the method is effective and reasonable.