液压柔性机械臂奇异摄动法控制

Singular Perturbation Control Approach to a Hydraulically Driven Flexible Manipulator

将液压柔性机械臂系统分为相互耦合的两个部分,即柔性机械臂和液压伺服驱动系统,并通过一个驱动Jacobian矩阵构建其耦合关系。将作用于机械臂上的力视为一虚拟输入,运用奇异摄动法将柔性机械臂的模型分解为快慢两个子系统,其中慢变子系统控制器完成对期望轨迹的跟踪,而快变子系统控制器抑制柔性臂的振动。在此基础上,采用反演控制设计方法,得到液压伺服阀的位移控制律,使液压油缸的实际输出力完全满足柔性臂所需要的驱动力。数字仿真的结果验证了设计控制器的正确性和有效性。

The hydraulic flexible manipulator system was divided into two parts： flexible arm dynamics and hydraulic servomechanism, and a driving Jacobian was derived to connect these two parts. Taking hydraulic actuator force as virtual input, a singular perturbed composite model was formulated and used to design composite controllers for the flexible link. In which the slow subsystem controller dominated the trajectory tracking, and then a fast controller was designed to damp out the vibration of the flexible structure. Moreover, the backstepping technique was applied to regulate the spool position of a hydraulic valve to provide the required force. Simulation results are provided to show the effectiveness of the presented approach.