基于拉格朗日方程和模态理论的纺机柔性机械臂弹性振动与轨迹运动控制

Vibration and Trajectory Motion Control of Textile Machinery Flexible Manipulators Based on Lagrange Equation and Modal Theory

针对纺机机械臂系统在使用过程中时效性和稳定性较差等问题,基于拉格朗日方程和模态理论对纺机柔性机械臂系统进行动力学建模,通过时间尺度对纺机柔性机械臂系统弹性振动和转动副轨迹追踪进行研究。研究结果表明:载体位姿角实际轨迹与期望轨迹能够在短时间内迅速同步,追踪误差在时间范围内实际轨迹与期望轨迹基本一致;在鲁棒控制条件下纺机柔性机械臂追踪误差变化幅值相对于常规PD控制较小,系统追踪误差达到稳定值所需时间也较短;由于系统引入主动振动抑制方法,系统在运行过程中相对于未引入振动抑制系统,一阶模态幅值明显下降,初始阶段波动明显减小。

For the problems of timeliness and poor stability of textile machinery flexible manipulators,the dynamics modeling of type textile machinery flexible manipulator system based on Lagrange equation and modal theory was established.The elastic vibration and joint trajectory tracking of textile machinery flexible manipulator systems by time scale theory were studied.The results show that posture angle actual trajectory and desired trajectory can quickly synchronize in a short time,the tracking error within the time frame is consistent with the desired trajectory actual trajectory; the tracking error change amplitude under the conditions of robust control of textile machinery flexible manipulators is small compared to conventional PD control,the tracking error of the system reaches a stable value in a short time; since the introduction of active vibration suppression method,the first modal amplitude of the system is sharply decreased,significantly reduced the initial phase fluctuations.