A Dynamics Control Approach To The Two Flexible Manipulators

Flexible manipulator is a typical rigid-flexible coupling system, which is highly nonlinear. Because of its low power consumption, operation speed and higher reliability, in recent decades in the aerospace, medical, military and other fields has been widely used and has been the universal concern of many scholars. For the manipulator, the dynamic modeling and active control is more difficult to study, and the methods are various. In this paper, two flexible system for example, research was carried out as follows:(1)This article discusses the flexible manipulator in the recent status, its dynamics modeling, algorithm and control theory are compared and analyzed.(2)In this paper, two flexible system as an example, the first shot is a flexible beam, the second shot is stacked beams, which add a layer of the flexible beam and a layer of viscoelastic material and bound material, which is the so-called passive control of beams, namely, PCLD beam; or add a piezoelectric sensor on PCLD beams, which constitute the so-called active control beam, the ACLD beam. The relative kinematics description method, using Rayleigh-Ritz method to describe deformation of the beam; established a lagrange dynamic equations of the form.(3)By using the generalized coordinate form, select the second mode of the Rayleigh-Ritz method, and derived to the recursive type of the dynamic equations of flexible manipulator system. (4)With the MATLAB software, using fourth-order Runge-Kutta method, take numerical simulation on the double passive flexible manipulator control and active control, analysis the different physical parameters, geometric parameters and system parameters on its dynamics under conditions characteristics in the time domain. The results show that: the passive restraint devices can produce significant damping effect on beam, constrained layer of viscoelastic layer thickness ratio on the elastic vibration amplitude and frequency have a significant impact; by adjusting the Thickness ratio can change the amplitude and frequency ;use different viscoelastic material will change the speed of vibration attenuation. It can be seen during the simulation analysis of active control, dissipation factor, viscoelastic material shear modulus, control factors such as changes in the gain coefficient will have a large impact on beam dynamics.Therefore, this study which is flexible manipulator system dynamics and control method provides a theoretical basis for further study, for the further implementation of the control and optimal control and laid a favorable foundation.