柔性臂关节位置滑模变结构控制研究

Sliding Mode Control of Flexible Manipulator Arm Joint Position

研究了一种分级式柔性机械臂关节位置滑模变结构控制方案 .首先推导了下位机关节位置伺服控制系统的数学模型 ,然后推导了在上位机上实现的滑模变结构控制率 ,并进行了实验研究 .试验结果表明 ,该控制方案的弹性变形较少 ,有利于降低末端位置弹性振动 .

One kind of two-grade control type of flexible arm joint position sliding mode control is studied. First,the mathematic model of joint position servo control system is deduced,then,the sliding mode variable structure control rule is obtained,finally experiment study is carried through. The experiment result indicates that this control scheme is benefit to depress the elastic vibration of flexible arm end position.