摘要
针对机械臂系统在Hamilton体系下,给出一种有效的H∞控制策略和精细的数值计算方法。首先建立了系统的动力学方程,进而利用控制理论中针对扰动衰减问题的H∞控制策略对动力系统进行了控制研究。在数值模拟过程中,摒弃了传统的差分类计算方法,采用建立在线性系统的时程精细积分算法对状态方程及代数黎卡提方程进行了求解,最后通过数值例题说明了文中方法的有效性。
The aim of this paper is to give an effective H∞ control way and precise numerical method for a single-axis mechanical arm system in Hamilton system. The dynamic equation of a flexible mechanical arm with single-axis is established. The H∞ control way of disturbance attenuation in control theory is used for the control problem. In the process of numerical simulation, the traditional differential methods are abandoned. Rather, the H∞ control problem is computed with the help of established time precise integration algorithm in linear dynamic system, in which the state equation and Riccati equation are solved successfully. A numerical example is given, showing the effectiveness of the present method.
出处
《工程力学》
EI
CSCD
北大核心
2005年第3期220-223,共4页
Engineering Mechanics
基金
国家自然科学基金(10372084)
霍英东青年教师基金(71005)
教育部高校博士点专项基金(20010699016)
陕西省自然科学基金(2002A17)
大连理工大学工业装备结构分析国家重点实验室开放基金
西北工业大学博士创新基金(200239)资助项目
关键词
机械臂
H-控制
精细积分法
黎卡提方程
子结构消元
Computer simulation
Control theory
Degrees of freedom (mechanics)
Dynamics
Integration
Riccati equations
