柔性物料提升机不确定鲁棒控制及振动抑制

Robust control and vibration suppression of flexible elevator with uncertain parameters

以柔性臂式物料提升机为对象,研究了其惯性参数不确定情况下的鲁棒位置控制和柔性振动主动抑制.利用拉格朗日-假设模态法建立其刚柔耦合模型,针对刚柔耦合系统强非线性的特点,基于奇异摄动法,将系统降阶为快、慢双时间尺度子系统,快变子系统表征机械臂柔性振动,采用最优控制主动抑制;慢变子系统表征机械臂刚性运动,考虑到提升机末端负载变化会给系统参数带来不确定性,采用非奇异终端神经滑模控制.计算结果表明：所设计控制器不仅能保证柔性臂式物料提升机位置的精确控制,对末端负载变化有较强的鲁棒性,而且能实现对柔性振动的快速抑制.

Robust positioning control and active vibration suppression of a flexible arm-type elevator with uncertain inertial parameters was studied.First,the rigid-flexible coupling dynamic model of the elevator was established by Lagrange method and assumed mode method.Then,for the strong nonlinearity of the the rigid-flexible coupling dynamic model,the model was decomposed into two parts based on the singular perturbation method,which were a fast subsystem and a slow subsystem.For the fast subsystem,it represented the flexible vibration,and the optimal LQR control was applied.For the slow subsystem,it represented the rigid motion,and nonsingular terminal neural network sliding mode control was proposed.Finally,simulation results demonstrate that the proposed controller ensures the accurate positioning control of the elevator with excellent robustness, and fulfills fast suppression of the flexible vibration.