基于分布参数机械臂协调操作柔性负载双时标控制被引量：1

Two-time scale control of two manipulators handling flexible payload based on distributed parameter

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摘要基于分布参数系统理论,建立机械臂协调操作柔性负载系统的动力学模型.利用奇异摄动方法,对动力学模型进行双时标分解,得到一个表征系统大范围刚性运动的集中参数慢变子系统和表征系统弹性振动的分布参数快变子系统.分别设计了自适应模糊滑模慢变控制器和振动反馈快变控制器,并通过分析快变子系统主算子及其生成C_O半群的特性,证明了分布参数闭环子系统的渐近稳定性.最后,通过仿真实验验证了所提出方法的有效性. The dynamic model of two manipulators in handling a flexible payload is established based on distributed parameter theory.The dynamic model of cooperative system is divided by using singular perturbation method.A lumped parameter slow subsystem describing the large rigid motion and a distributed parameter fast subsystem expressing the elastic vibration are obtained.An adaptive fuzzy sliding mode controller and a vibration feedback controller are designed. The characteristic of the main operator and Co semigroup of the fast distributed parameter subsystem is analyzed,so the distributed parameter closed-loop subsystem is proved to be asymptotic stable.Finally,simulation results show the effectiveness of the proposed control scheme.

作者李元春刘姝阳唐志国

机构地区长春工业大学控制工程系吉林大学汽车仿真与控制国家重点实验室

出处《控制与决策》 EI CSCD 北大核心 2012年第5期686-690,696,共6页 Control and Decision

基金国家自然科学基金项目(60974010 60674091) 吉林省科技发展计划项目(20100502 20110705)

关键词分布参数柔性负载算子半群奇异摄动自适应模糊滑模 distributed parameter flexible payload operator semigroup singular perturbation adaptive fuzzy sliding

分类号 TP273 [自动化与计算机技术—检测技术与自动化装置]

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