A Computation Optimal Control Approach To The Single Flexible Manipulator

In this paper, to study the dynamic response of flexible manipulator with a passive constrained layer damping restraint devices and active constrained layer damping treatment, control parameter enhance theory based on the application of technology MISER3.2to adjust system parameters, further optimization of control. Due to the highly nonlinear and coupled characteristics of the beam with PCLD treatment, the paper used lagrange’s equation and Rayleigh-Ritz method to build the robot arm model, details of the derived moment of inertia and stiffness of the various components of the moment expression Derived kinetic energy of the system, and the specific strain energy lagrange equation of the dynamic equation, and application software MATLAB simulation and analysis of its domain when the dynamic response, the analysis of the dynamics. The manipulator constraining layer and the viscoelastic material layer in the plumb-plane rotation and carries an end mass.The simulation results show that the constrained damping layer not only can reduce the flexibility of the vibration amplitude and vibration attenuation can be quickly lost; different piezoelectric materials,viscoelastic materials and the structure size of manipulator to the end of the elastic vibration attenuation significantly affected; by CPET technical adjustment the thickness of constraining layer and viscoelastic material,to reduce vibration has greatly improved.Therefore, this paper studies optimal control theory laid the foundation for further study.