摘要
在柔性机械臂的控制研究中,实现定位目标的同时必须快速消除柔性振动。基于奇异摄动法和双时标分解,提出了一种混合控制方法。柔性机械臂的模型可分解为两个子系统:慢时标子系统和快时标子系统,快时标子系统采用模糊控制,慢时标子系统采用速度反馈控制,并验证了该方法的控制性能。
In the study of control of flexible robot arms, it is an important that flexible vibration be smoothed quickly while fixing the position of target. In this paper,a hybrid control method for a flexible manipulator is presented. The method is based on a singular perturbation strategy and the two-time-scale resolution. A singularly perturbed model of the flexible manipulator can be resolved into a fast subsystem and a slow subsystem. A fuzzy control is used to stabilize the fast subsystem,a speed feedback control is designed for the slow subsystem, thus obtaining a composite controller. The control performance is verified.
出处
《电子机械工程》
2003年第6期60-63,共4页
Electro-Mechanical Engineering
