机械制造与自动化2024，Vol.53Issue(2)：193-197,5.DOI:10.19344/j.cnki.issn1671-5276.2024.02.041
多自由度柔性机械臂非线性连续时变反馈控制方法
Nonlinear Continuous Time-varying Feedback Control Method for Multi-degree of Freedom Flexible Manipulators
江峰 1苏麒1
作者信息
- 1. 中化学交建同安产城融合建设(安庆)有限公司,安徽安庆 246003
- 折叠
摘要
Abstract
In order to solve the long control delay of the multi degree of freedom flexible manipulator and the large difference between the motion trajectory caused by by low rationality of the selection of the positioning control coefficient of the multi degree of freedom flexible manipulator in the current control process of the manipulator,a nonlinear continuous time-varying feedback control method for the multi degree of freedom flexible manipulator is proposed.Based on the Lagrangian operator,the dynamic model of a multi DOF flexible manipulator is built in the form of energy.Considering the load state of the manipulator and the heavy torque of the manipulator,the nonlinear continuous time-varying feedback control parameters of the manipulator are identified.The non-linear controller of the manipulator is constructed by setting the nonlinear continuous time-varying feedback control rules to realize the positioning control of the manipulator.The experimental results show that the proposed method can effectively improve the consistency of the manipulator motion track and the preset track,shorten the manipulator positioning control delay,and further reinforce the application effect of the manipulator.关键词
自适应控制/多自由度柔性机械臂/反馈控制/连续时变/定位控制/动态面控制Key words
adaptive control/multi-degree of freedom flexible manipulator/feedback control/continuous time-varying/positioning control/dynamic face control分类
信息技术与安全科学引用本文复制引用
江峰,苏麒..多自由度柔性机械臂非线性连续时变反馈控制方法[J].机械制造与自动化,2024,53(2):193-197,5.
