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Modeling And Intelligent Control Of Flexible Manipulator

Posted on:2016-07-21Degree:MasterType:Thesis
Country:ChinaCandidate:Y PanFull Text:PDF
GTID:2298330467488143Subject:Control Engineering
Abstract/Summary:PDF Full Text Request
With the development of science and technology, the robot technology has beenwidely used in various fields. Among them, the flexible manipulator with its lightstructure, flexible operation, quick response, high work efficiency, andgradually occupy an increasingly important position in medical, exploration, andaerospace industry. Flexible manipulator system is an uncertain and strongcoupling nonlinear system, the traditional control method of rigid manipulator isdifficult to achieve the requirements of control. In this paper, based on thedouble link flexible manipulator as the research object, using the singularperturbation theory, the system is decomposed into two subsystems, and the twosubsystems are designed controller.First, analyse the system structure of the flexible manipulator. Using theassumed modes method, based on the Lagrange equation, and considering the first-order elastic mode, the dynamics of a flexible manipulator equation in relativecoordinates system. Establish the system model of the flexible manipulator by S-function.Secondly, using the singular perturbation theory, the flexible manipulatorsystem is decomposed into a fast subsystem slow subsystem characterization of largerange movement and characterization of small elastic vibration, and the twosubsystems are designed controller. For the slow subsystem, reference for thesituation of ordinary rigid manipulator, combined with the Lyapunov stability theoryof the sliding mode controller is designed for the fast subsystem; in the fastscale in the optimal controller is designed, with elastic vibration suppression offlexible manipulator. Give a hybrid control rude. Use the Matlab software to simulatesystem. Finally, a sliding mode controller is designed for the slow subsystem isimproved design, an adaptive sliding mode controller is designed for the chatteringphenomenon, weakening the common sliding mode controller. By simulation, showthat the adaptive sliding mode controller improved response is faster and hasbetter stability.
Keywords/Search Tags:flexible manipulator, singular perturbation theory, adaptive sliding modecontrol, optimum control
PDF Full Text Request
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