【摘 要】
：
研究了柔性变截面滑移式机械手臂的控制。首先，基于有限元法导出系统的动力学方程，然后分别建立了两种控制方式的状态方程：１）以加速度和角加速度作为控制变量：２）以力和力矩作为控制变
【机 构】
：
工程力学系,工程力学系,工程力学系
论文部分内容阅读
研究了柔性变截面滑移式机械手臂的控制。首先，基于有限元法导出系统的动力学方程，然后分别建立了两种控制方式的状态方程：１）以加速度和角加速度作为控制变量：２）以力和力矩作为控制变量。控制过程分为“粗控”和“精控”两步进行。“精控”过程采用线性二次型高斯控制。最后给出了数值模拟的结果。
The control of flexible variable cross-section sliding manipulator is studied. First, the dynamic equations of the system are derived based on the finite element method. Then, the state equations of the two control modes are established respectively: 1) the acceleration and the angular acceleration are taken as the control variables; 2) the force and the torque are used as the control variables. Control process is divided into “rough control” and “precision control” two steps. “Precision” process using linear quadratic Gaussian control. Finally, the numerical simulation results are given.
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