摘要
提出了一种双连杆柔性机械臂的控制方法。首先运用拉格朗日法建立双连杆柔性机械臂的动力学模型,并利用奇异摄动方法将柔性臂系统分解为慢变和快变子系统后,设计了组合控制器。对慢变子系统利用遗传算法确定两杆的PD控制参数,而对快变子系统采用最优H2综合策略设计控制器后,对柔性臂系统施加组合控制律。仿真结果表明了所设计控制器的有效性。
The control method of two-link flexible manipulator is proposed. The dynamics model of two-link flexible manipulator using the Lagrange-method is established, then the combination controller is designed after using singular perturbation method to separate the flexible link manipulator system into slow sub-system and fast sub-system. To the slow sub-system,the genetic algorithm is used to determine PD control parameter, but to the fast sub-system, optimization H2 synthesize Strategy is used to design the controller, then combination control law is used to the flexible manipulator system. The simulation results show the validity of the design controller.
出处
《微计算机信息》
2009年第22期214-216,共3页
Control & Automation
关键词
柔性机械臂
奇异摄动分解
遗传算法
最优H2综合
Flexible link Manipulator
Singular perturbation decomposition
Genetic Algorithm
Optimization H2 Synthesize
