引用本文:杨春雨,许一鸣,代伟,周林娜.柔性机械臂的双时间尺度组合控制[J].控制理论与应用,2019,36(4):659~665.[点击复制]
YANG Chun-yu,XU Yi-ming,DAI Wei,ZHOU Lin-na.Two-time-scale composite control of flexible manipulators[J].Control Theory and Technology,2019,36(4):659~665.[点击复制]
柔性机械臂的双时间尺度组合控制
Two-time-scale composite control of flexible manipulators
摘要点击 2732  全文点击 1223  投稿时间：2018-01-02  修订日期：2018-08-01
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DOI编号  10.7641/CTA.2018.80005
  2019,36(4):659-665
中文关键词  柔性机械臂1  奇异摄动2  滑模控制3  自适应动态规划4  组合控制5
英文关键词  flexible manipulator1  singular perturbation2  sliding mode control3  adaptive dynamic programming4  composite control5
基金项目  国家自然科学基金
作者单位E-mail
杨春雨* 中国矿业大学 chunyuyang@cumt.edu.cn 
许一鸣 中国矿业大学  
代伟 中国矿业大学  
周林娜 中国矿业大学  
中文摘要
      本文研究柔性机械臂的轨迹跟踪和振动抑制问题. 首先, 利用Lagrange法和假设模态法建立柔性机械臂的动态模型, 进而利用奇异摄动理论得到柔性机械臂的双时间尺度模型. 然后, 基于慢时间尺度模型利用滑模控制理论设计轨迹跟踪控制器; 借助于快时间尺度模型利用自适应动态规划设计参数不精确已知情况下的最优振动抑制控制器; 将二者相结合, 构造双时间尺度组合控制器, 利用奇异摄动理论证明闭环系统稳定. 最后, 在Matlab/Simulink环境下进行实验, 与现有方法相比, 本文设计的控制器对柔性振动具有更好的振动抑制效果, 跟踪精度更高.
英文摘要
      This paper studies the problems of trajectory tracking and vibration suppression of flexible manipulators. Firstly, the dynamic model of the flexible manipulator is established using Lagrange and assumed-mode method, and a two-time scale model of the flexible manipulator is obtained by singular perturbation theory. Then, a trajectory tracking controller is designed based on the slow-time scale model by using sliding mode control theory. An optimal vibration suppression controller with inaccurate known parameters is designed based on the fast-time scale model by using adaptive dynamic programming (ADP). A two-time scale controller is formed by combining the trajectory tracking controller and the optimal vibration suppression controller, and the stability of closed-loop system is proved by singular perturbation theory. Finally, the performance of the composite controller is verified by simulation in Matlab/Simulink environment. Compared with the existing methods, the controller designed in this paper leads to a better vibration suppression effect and higher tracking accuracy.