柔性机械臂振动控制研究

Vibration Control of a Flexible Manipulator

总结并分析了柔性机械臂动力学建模和振动控制的最新进展，建立了柔性机械臂振动控制实验系统，分别采用PID控制策略和线性二次型最优控制（LQR）策略对柔性机械臂的振动控制进行了实验研究，并指出PID了控制与闭环反馈控制相结合的有效性．实验结果表明闭环应变反馈控制比单纯的的PID控制更为有效．

The recent development of dynamics and control for a flexible manipulator is analized and the experimental system of the manipulator is developed. A PID control strategies and a Linear Quadratic RegUlator (LQR) are respectively designed to control vibration of the manipulator, And a striking control effect based on the combination of PID control with the feedback control is point out, and the experimental results show that the feedback control is more available than PID control for vibration suppressing of a flexibale manipulator.