宇航学报

宇航学报 ›› 2017, Vol. 38 ›› Issue (10): 1024-1031.doi: 10.3873/j.issn.1000-1328.2017.10.002

• 飞行器设计与力学 • 上一篇    下一篇

考虑关节柔性的双连杆机械臂振动控制及实验研究

荣吉利，项阳，辛鹏飞，杨永泰，项大林   

  1. 1.北京理工大学宇航学院力学系， 北京 100081；2.中科院泉州装备制造研究所，泉州 362200; 3.北京宇航系统工程研究所，北京 100076
  • 收稿日期:2017-06-05 修回日期:2017-07-17 出版日期:2017-10-15 发布日期:2017-10-25
  • 基金资助:

    CAST创新基金（CAST20100141107）

Vibration Control and Experiment Research of Two Link Flexible Manipulator Considering Flexibility of the Joint

RONG Ji li, XIANG Yang, XIN Peng fei, YANG Yong tai, XIANG Da lin   

  1. 1. Department of Mechanics, School of Aerospace Engineering, Beijing Institute of Technology, Beijing 100081, China;
    2. Quanzhou Institute of Equipment Manufacturing, Chinese Academy of Sciences, Quanzhou 362200, China;
    3. Beijing Institute of Astronautical Systems Engineering, Beijing 100076, China
  • Received:2017-06-05 Revised:2017-07-17 Online:2017-10-15 Published:2017-10-25

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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。

关键词: 多体系统动力学, 双连杆柔性机械臂, 振动控制, 轨迹跟踪, 地面仿真平台

Abstract:

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.

Key words: Dynamics of multi body system, Two link flexible manipulator, Vibration control, Trajectory tracking, Ground simulation platform

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