Low-Frequency Vibration Control And Experimental Research Of The Heavy Load Flexible Manipulator

With the continuous development of the scientific and technological level, people are becoming more and more frequently for the exploration of space. However, because of the special environment, many dangerous tasks are difficult to complete which depending solely on astronauts. The space flexible manipulator can greatly reduce the dangers that astronauts perform tasks. Therefore, the use of space flexible manipulator to assist or replace the astronauts to complete the task has a very important significance. The research of Space flexible manipulator has become an important direction in the field of space technology. In this thesis, it established the dynamics modeling of large load flexible manipulator which use the Kane method, and design a control strategy for vibration control. This paper is supported by the Doctoral Fund topics of Ministry of Education (20110005120004)"low-speed high-precision positioning and rapid vibration suppression of Space flexible manipulator". Specific work as follows:First, it introduces the research background, survey the research and application of flexible manipulator at domestic and foreign. It introduced the key technologies of flexible manipulator which contain the dynamics modeling theory flexible manipulator, strategy study of active vibration control of flexible manipulator as well as experimental system of flexible manipulator that domestic and foreign research scholars study.Second, the paper describes the method of Kane, and use the large load single-link Flexible manipulator as the research object, established the kinetic equation of large load flexible manipulator which consider more physical factors that it contain center of rigid,flexible arm, the end of centralized quality. And make the numerical analysis. Again, this paper describes the singular perturbation theory, dynamic sliding mode control theory and optimal control theory. A composite controller is designed based on the singular perturbation model of one-link flexible manipulators. A dynamic sliding mode controller is designed for the slow subsystem, and optimal controller is designed to stabilize the fast subsystem. In this paper, the state feedback control is designed for the vibration suppression.Finally, this paper describes the experimental principle of the large load flexible manipulator vibration control. Introduce the equipment which used in this experiment and make the experiment of the vibration Control of large load flexible manipulator.