末端有集中质量的柔性机械臂的动力学与控制模型

The Dynamic and Control Model for Flexible Mechanic Arm With Centralized Mass at its End

本文首先用约束模态法结合拉普拉斯变换推导了末端有集中质量的Euler—Bernouli梁的特征方程、模态型函数及其正交条件,然后用拉格朗日结合假设模态法推导了末端有集中质量的单连杆柔性机械臂的动力学模型,并将此模型转换成了适于控制的状态空间表达式.

This paper derived the characteristic equation, modality function and its orthogonal condition for Euler-Bernouli bar with centralized mass at its end by using modality constrain method and laplace transferrn, then did the dynamic model for single-link flexible mechanic arm with centralized mass at its end by applying Lagrangian-postulation modality method and transfered the model to a state space express which was suitable for controll.