柔性机械臂非并置式模型参考自适应控制

Non-Collocated Model Reference Adaptive Control for Flexible Manipulator Arm

:推导了单连杆柔性机械臂的动力学模型 ,研究其末端位置的模型参考自适应控制。在推导动力学模型时 ,使用刚性模态和多个弹性模态使单连杆柔性机械臂等效为一个多自由度的机械多体动力系统。在研究末端位置的弹性振动抑制方法时 ,使用了振动主动控制方法 ,用线性化模型的最优状态反馈方法构造参考模型、Lyapunov稳定性理论推导了模型状态跟踪的自适应控制率 ,用 LQR方法推导末端位置调节控制率。用模型状态跟踪和末端位置跟踪两级跟踪实现了一种单连杆柔性机械臂末端位置的自适应控制。仿真结果表明 ,该方法渐进稳定。

In this paper,the model reference adaptive control of the end position of a single-link flexible arm was studied.The optimal state feedback control of linearization model was used to construct the reference model,the Lyapunov stability theory was used to deduce the tracking control rules,the LQR control method was used to deduce the end position control law.Both the state following control and the end position following control were used to realize a type of self-adaptive control of a single-link flexible manipulator arm.