基于控制系统模型降阶的柔性机械臂模态截断技术

Modality Truncatio Method for Flexible Mechanical Arm Based on Lowering-Order of Control System Model

本文提出了基于均衡实现的柔性机械臂模态截断方法,求取了单连杆柔性机械臂状态空间表达式的均衡实现,并以此为依据对控制模型和动力学模型进行了截断,所得结果与实验结果一致。

This paper deals with the modality truncatio method for flexible mechanical arm based on equilibrium realization, obtains the equilibrium realization of space expressions for single link flexible arm, and carries out truncation of both control and dynamic models thereby.