柔性机械臂振动的前馈控制

A Feedforward Control Strategy on the Vibration of a Flexible Manipulator

基于柔性臂简化的二阶线系统模型，指出前馈延时控制在本质上是一种零极点对消技术，得到了零极点对消应满足的条件。对不同工况的柔性臂所做的前馈延时控制结果表明合理选择施加制动力矩时刻及方向将有效地抑制柔性臂的残余振动，反之则加剧柔性臂的残余振动。

When the frist grade flexible mode and the rigid mode are intercepted the flexible manipulator is transformed into a quadratic system. This paper presents the feedforward control strategy with delay time, which demonstrates that it is to add zeros to cancel the unstable or dominant closedloop poles of the control system, and gets the analytical resolution. A series of experimental results have proved that the residual vibration of a flexible manipulator is effectively reduced when the proper resistant torque is applied; on the contrary, the residual vibration is aggravated. 