Integrated Structure Control Design Offlexible Arm System

Compare rigid arm with flexible arm,the system of flexible arm is more complicated dynamics system,therefore system of flexible arm need stricter requirement of dynamic precision,as a result of non-linear,oupling and vibration induced by flexible of system structure in working.nowadays,the most of study focus on control of flexible arm and studing flexible arm with same section .the design method of a combination of control model and mechanical dynamics model is seldom studies.This thesis focuses on flexible arm with single-link rotating flexibleManipulator as an example. Dynamics properties of its transverse vibration are analyzed firstly, Furthermore, the unit discrete theory of flexible arm with variable sections is presented. Because it is hard to get precise solution at this situation, the design method of a combination of control model and mechanical dynamic model is researched with the FEA and controltheory. Integrally optimize mathematical model includes construction parameters, sensor parameters and controller parameters. An improved,genetic algorithm( GA) is used for parameter global optimization. Simulation results demonstrate that the optimized manipulator beam is non-uniform cross-section beam. the system shows improved performances of tip vibration suppression.