考虑关节柔性的双连杆机械臂振动控制及实验研究
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摘要
为了研究含有柔性关节的双连杆柔性机械臂的振动控制问题,采用绝对坐标方法对臂杆和关节进行建模,得到了刚柔耦合的双连杆机械臂动力学模型;对比研究了PD和LQR控制方法对柔性机械臂主动控制效果,针对柔性机械臂的实际工程需求,提出了一种LQR-PD联合控制策略,设计了相应的控制器并进行了仿真控制研究,同时结合搭建的双连杆柔性机械臂地面模拟平台进行了模拟实验。研究结果表明,该控制策略不仅能实现关节轨迹的精确跟踪,而且能有效抑制臂杆末端的残余振动,具有重要的工程价值和良好的应用前景。
In order to learn the vibration control of two-link flexible manipulator considering the flexibility of the joint,Absolute Coordinate Based( ACB) is utilized to model space manipulator links and joints to develop the dynamic equations of a rigid-flexible coupling two-link flexible manipulator system. The comparative study is carried on LQR and PD for active control of the flexible manipulator. Aiming at the practical engineering requirements of the flexible manipulator,a combined control strategy by LQR-PD is proposed. The controller is designed and applied to the simulation of the two-link flexible manipulator. Two-link flexible manipulator platform is set up and the control experiment is conducted. Results show that the proposed strategy is effective in tracking of the joint trajectory accurately and inhibiting the residual vibration of the end of the link,which means it has important practical significance and broad application prospect.
In order to learn the vibration control of two-link flexible manipulator considering the flexibility of the joint,Absolute Coordinate Based( ACB) is utilized to model space manipulator links and joints to develop the dynamic equations of a rigid-flexible coupling two-link flexible manipulator system. The comparative study is carried on LQR and PD for active control of the flexible manipulator. Aiming at the practical engineering requirements of the flexible manipulator,a combined control strategy by LQR-PD is proposed. The controller is designed and applied to the simulation of the two-link flexible manipulator. Two-link flexible manipulator platform is set up and the control experiment is conducted. Results show that the proposed strategy is effective in tracking of the joint trajectory accurately and inhibiting the residual vibration of the end of the link,which means it has important practical significance and broad application prospect.
引文
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[10]邓子辰,钟万勰.空间刚柔性机械臂振动的精细控制[J].力学季刊,2000,21(3):277-281.[Deng Zi-chen,Zhong Wan-xie.Precise control of vibration for rigid-flexible mechanical arm[J].Chinese Quarterly of Mechanics,2000,21(3):277-281.]
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[13]杨飞飞,王聪,曾玮.空间机械臂的确定性学习控制[J].宇航学报,2015,36(7):811-818.[Yang Fei-fei,Wang Cong,Zeng Wei.Learning from adaptive control of a class of space manipulator systems[J].Journal of Astronautics,2015,36(7):811-818.]
[14]García-Vallejo D,Mayo J,Escalona J L,Domínguez J.Threedimensional formulation of rigid-flexible multibody systems with flexible beam elements[J].Multibody System Dynamics,2008,20(1):1-28.
[15]Spong M W.Modeling and control of elastic joint robots[J].ASME Journal of Dynamic Systems,Measurement and Control,1987,109(6):310-319.
[16]倪茂林,吴宏鑫.具有完整性的最优控制系统设计[J].控制理论与应用,1992(3):245-249.[Ni Mao-lin,Wu Hongxin.The design of optimal control systems possessing integrity[J].Control Theory and Applications,1992(3):245-249.]
[2]刘志全,危清清,王耀兵.载人航天器柔性机械臂的动力学建模方法[J].航天器工程,2013,22(5):34-41.[Liu Zhiquan,Wei Qing-qing,Wang Yao-bing.Review of flexible manipulator dynamic modeling of manned spacecraft[J].Spacecraft Engineering,2013,22(5):34-41.]
[3]戈新生,崔玮,赵秋玲.刚柔性耦合机械臂轨迹跟踪与振动抑制[J].工程力学,2005,22(6):188-191.[Ge Xinsheng,Cui Wei,Zhao Qiu-ling.Trajectory tracking control and vibration suppression of rigid flexible manipulators[J].Engineering Mechanics,2005,22(6):188-191.]
[4]梁捷,陈力.柔性空间机械臂末端运动及柔性振动的模糊自适应补偿控制[J].兵工学报,2011,32(1):45-57.[Liang Jie,Chen Li.Fuzzy logic adaptive compensation control of endeffect motion and flexible vibration for space-based flexible manipulator[J].Acta Armamentarii,2011,32(1):45-57.]
[5]Shabana A A,Yakoub R Y.Three dimensional absolute nodal coordinate formulation for beam elementstheory[J].Journal of Mechanical Design,2001,123(4):614-621.
[6]荣吉利,杨永泰,李健,等.空间机械臂建模方法与控制策略研究[J].宇航学报,2012,33(11):1564-1569.[Rong Ji-li,Yang Yong-tai,Li Jian,et al.Research on modeling and control scheme of space manipulator[J].Journal of Astronautics,2012,33(11):1564-1569.]
[7]张晓东,贾庆轩,孙汉旭,等.空间机器人柔性关节轨迹控制研究[J].宇航学报,2008,29(6):1865-1870.[Zhang Xiao-dong,Jia Qing-xuan,Sun Han-xu,et al.The research of space robot flexible joint trajectory control[J].Journal of Astronautics,2008,29(6):1865-1870.]
[8]Talebi H A,Patel R V,Asmer H.Neural network based dynamic modeling of flexible-link manipulators with application to the SSRMS[J].Journal of Robotic Systems,2000,17(7):385-401.
[9]刘志全,危清清,王耀兵.空间机械臂关节精细动力学模型的建立及关节力矩控制[J].宇航学报,2014,35(6):663-668.[Liu Zhi-quan,Wei Qing-qing,Wang Yao-bing.Detailed joint dynamics modeling and joint torque control system of space manipulators[J].Journal of Astronautics,2014,35(6):663-668.]
[10]邓子辰,钟万勰.空间刚柔性机械臂振动的精细控制[J].力学季刊,2000,21(3):277-281.[Deng Zi-chen,Zhong Wan-xie.Precise control of vibration for rigid-flexible mechanical arm[J].Chinese Quarterly of Mechanics,2000,21(3):277-281.]
[11]Wu S,Cetinkunt S.Model reference adaptive inverse control of a single link flexible robot[J].Computers&Structures,1993,47(2):213-223.
[12]Zmeu K V,Shipitko E A,Perevozchilov A S.Linear neural model-based predictive controller design for flexible link robot[C].IEEE International Symposium on Intelligent Control,Taipei,Sept 4,2004.
[13]杨飞飞,王聪,曾玮.空间机械臂的确定性学习控制[J].宇航学报,2015,36(7):811-818.[Yang Fei-fei,Wang Cong,Zeng Wei.Learning from adaptive control of a class of space manipulator systems[J].Journal of Astronautics,2015,36(7):811-818.]
[14]García-Vallejo D,Mayo J,Escalona J L,Domínguez J.Threedimensional formulation of rigid-flexible multibody systems with flexible beam elements[J].Multibody System Dynamics,2008,20(1):1-28.
[15]Spong M W.Modeling and control of elastic joint robots[J].ASME Journal of Dynamic Systems,Measurement and Control,1987,109(6):310-319.
[16]倪茂林,吴宏鑫.具有完整性的最优控制系统设计[J].控制理论与应用,1992(3):245-249.[Ni Mao-lin,Wu Hongxin.The design of optimal control systems possessing integrity[J].Control Theory and Applications,1992(3):245-249.]