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基于分布参数系统理论,建立机械臂协调操作柔性负载系统的动力学模型.利用奇异摄动方法,对动力学模型进行双时标分解,得到一个表征系统大范围刚性运动的集中参数慢变子系统和表征系统弹性振动的分布参数快变子系统.分别设计了自适应模糊滑模慢变控制器和振动反馈快变控制器,并通过分析快变子系统主算子及其生成C_O半群的特性,证明了分布参数闭环子系统的渐近稳定性.最后,通过仿真实验验证了所提出方法的有效性.
Based on the theory of distributed parameter system, a dynamic model of coordinated operation of flexible load system with manipulator is established. By using singular perturbation method, the dynamic model is decomposed by double time scale, and a slowly variable subsystem with central parameter is obtained, And the fast parameter subsystems of the distributed parameters that characterize the elastic vibration of the system.An adaptive fuzzy sliding mode slowly variable controller and a vibration feedback fast changing controller are designed respectively.The main operator of the fast changing subsystem and its generating C_O semigroup Characteristics, the asymptotic stability of the distributed closed-loop subsystem is proved.Finally, the effectiveness of the proposed method is verified by simulation experiments.