机械科学与技术2025，Vol.44Issue(5)：745-750,6.DOI:10.13433/j.cnki.1003-8728.20230235
阻尼可控的柔性臂建模及联合振动控制
Modeling and Combined Vibration Control of Flexible Manipulators with Controllable Damping
摘要
Abstract
A vibration suppression method combining ZV input shaper and optimal control was designed for the flexible manipulator like a long link of a handling robot to optimize residual vibration.Fuzzy control was applied to the weighted parameter Q in the optimal controller.In order to reduce the time to reach steady state and improve the accuracy of the flexible manipulator motion,a magneto rheological(MR)damper is introduced to make the damping of the flexible manipulator controllable,achieving a combined control of controllable damping and joint torque in the flexible manipulator system.The simulation results show that the designed combined control strategy can effectively reduce the overshoot of residual vibration,and further adding dampers can effectively reduce the time for the flexible manipulator system to reach steady state.关键词
柔性机械臂/输入整形/最优控制/模糊控制/磁流变阻尼器Key words
flexible manipulator/input shaping/optimal control/fuzzy control/magneto rheological dampe分类
矿业与冶金引用本文复制引用
谢冰冰,牛军川,夏俭俭..阻尼可控的柔性臂建模及联合振动控制[J].机械科学与技术,2025,44(5):745-750,6.基金项目
国家自然科学基金项目(U22A20204,52075294)、深圳市自然科学基金项目(JCYJ20220530141006015)及济南市"新高校20条"(202333060) （U22A20204,52075294）
