带有反馈控制的柔性机械臂动态研究与振动控制

DYNAMIC STUDY AND VIBRATION CONIROL ON THE FLEXIBLE MANIPULATOR WITH FEEDBACK CONTROL

带有反馈控制的柔性机械臂关节处边界条件不同于振动控制理论中的饺支梁或悬臂梁边界条件，为此，将 其视为弹簧铰支，建立柔性机械臂动力学模型，并基于柔性臂的部分状态：转速、转角及柔性梁应变的反馈，结合柔 性臂机电耦合特性，得到了以柔性臂末端点转角θｔ为输出，以柔性臂给定转角θｔ为输入的传递函数。由频域的二 次型目标函数，求得柔性臂应变反馈增益。一系列的试验结果证明理论分析的正确性。

The hub boundary condition of the flexible manipulator with feedback control is different from pinned free or clamped free hub boundary condition. So a pinned-spring boundary condition is used as the hub boundary condition. And the dynamic model of flexible manipulator and derived the transfer functions with the electric-mechanic coupling character are set up by using the tip angular position of the beam as output and the desired angular position as input. The linear quadratic objective function in time domain is transformed into an objective function in frequency domain according to the Parsvel theorem, and the strain feedback gains are got. A series of experimental results testify the theoretical analysis.