Research On The Dynamics And Trajectory Control Of Flexible Manipulators

With the development of technology, the light and flexible structure is widely used in the aerospace and aviation with the requirements of faster and more accurate, how to resolve the vibration problem of works in aether is a very important topic. The dynamics and trajectory control of the flexible manipulators is studied in this thesis.Firstly, the dynamics model and singular perturbation model is examined by means of Lagrange equation, assumed rigid arms and the finite modal exapansion, and then finding out the main facts which cause the vibration. Secondly, based on the studying of the nonlinear robust control methods of the flexible manipulators, a fuzzy-PD controller and an adaptive sliding PD controller are designed which has good robust performance both on the torque control and adaption of the parameters change when the trajectory changed. The fuzzy-PD controller avoids the signal PD controller's ill-robust and it is a simple, easy to realize. The adaptive sliding PD controller can estimate and compensate the perturbed parameters and reduce the peak levels of servo initial output of the PD control. Lastly based on the Matlab/Simulink, the simulation models of the system are developed, and the simulation results shown that the above scheme is feasible.