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针对单连杆柔性臂的点对点定位问题,提出了动态滑模控制与最优控制相结合的混合控制方法。首先,利用奇异摄动法将柔性臂系统分为慢变和快变两个子系统,并分别设计控制器。然后,对慢变子系统采用基于动态切换函数的动态滑模控制,该方法考虑到了执行机构的动态特性,可以消除控制输入的抖振。快变子系统经变换后呈线性系统,故采用简单的最优控制即可快速有效地抑制振动。最后,数值仿真结果表明,该方法不仅有效地降低了滑模控制所固有的抖振,而且能实现柔性臂的精确定位和振动抑制。
Aiming at the point-to-point positioning problem of single link flexible arm, a hybrid control method combining dynamic sliding mode control and optimal control is proposed. Firstly, the flexible arm system is divided into two sub-systems of slow-change and fast-change using singular perturbation method, and the controllers are respectively designed. Then, the dynamic sliding mode control based on the dynamic switching function is adopted for the slow-moving subsystem. The method takes into account the dynamic characteristics of the actuator and can eliminate the chattering of the control input. The fast changing subsystem is transformed into a linear system, so simple and optimal control can quickly and effectively suppress the vibration. Finally, the numerical simulation results show that this method not only effectively reduces the chattering inherent in the sliding mode control, but also achieves the precise positioning of the flexible arm and the vibration suppression.