带有加速度反馈的柔性机械臂开关变结构控制

SWITCH VARIABLE STRUCTURE CONTROL OF A FLEXIBLE MANIPULATOR WITH ACCELERATION FEEDBACK

为了实时控制柔性机械臂的残余振动，提高定位精度，提出了带有加速度反馈的开关变结构控制，将柔性机械臂的运动过程分成两部分，第一部分使其在控制力矩作用下做大角度刚体运动；第二部分，当柔性机械臂的运动临近终止状态时，通过逻辑开关，将柔性机械臂末端加速度反馈量接通， 以产生抑制弹性振动的控制力矩，与刚体运动的控制力矩迭加，完成终点定位和振动抑制。一系列的试验包括与ＰＩＤ控制的比较证明带有加速度反馈的柔性机械臂开关变结构控制对于抑制柔性臂残余振动是有效和实用的。

：In order to control the residual vibration in real time and to improve the position accuracy of a flexible manipulator，a switch variable structure control strategy with acceleration feedback on the residual vibration of a flexible manipulator is developed．The operational time of a flexible manipulator is divided into two periods of time, the first period of time is that the flexible manipulator moves large angle under the driving torque，and the second period time is that the flexible manipulator moves to the terminal state approximately，a logical soft switch is set on so as to feedback the beam end acceleration to the controller and the controller generates an additional torque．The driving torque and additional torque may be used to reduce the residual vibration of a flexible manipulator effectively and to improve the position accuracy．A series of experimental results including comparison with PID control strategy prove that switch variable structure control strategy with acceleration feedback on a flexible manipulator strategy correct and feasible．