Research On Vibration Control For Flexible Manipulator Based On Singular Perturbation

With the continuous development of the industrialization process, Industry 4.0 has become an inevitable trend of the industrial development, industrial robot technology will be constantly innovative.The flexible manipulator is an important part of the lightweight design of the robot, in the aerospace, machinery manufacturing and other fields have broad application prospects. However, the application of arm will inevitably cause elastic vibration when the robot in the process of running, the adverse impact on the movement precision of the robot.Moreover, the structural elastic vibration also lead to serious fatigue damage of flexible robotic arm, and shorten the life of the robot arm. Therefore, the arm vibration must be suppressed. In this paper, by taking the single-link flexible manipulator which the end with concentrated mass as the research object, studies its dynamic characteristics.Using the singular perturbation method,the system is decomposed into two subsystems, in order to achieve the effect of vibration control, the two subsystems are separately controled.First of all, giving a simple introduction on the flexible manipulator dynamics modeling and vibration suppression method of domestic and foreign research.For the research object of this paper, the flexible mechanical arm is looked as Euler-Bernoulli beam, the assumed mode method is used to described the elastic deformation of flexible manipulator, then to establish the dynamic equation of the flexible manipulators system with Lagrange equation based on the deformation. Through compared the result of mathematical derivation with ANSYS modal analysis results analysis,,proved the accuracy of the description of the deformation.Secondly, the relevant control theory is briefly introduced and analysised,which focuses on the idea and decomposition step of the singular perturbation method,while the variable structure control method is also discussed, providing a theoretical basis for the design of the controller.Again,Through the singular perturbation theory, the established dynamic equation of decomposition is decomposed into slowly varying rigid motion and quick change of elastic vibration,.Then, design backstepping sliding modle controller and fuzzy controler to control the slowly varying and quick varying subsystems.Finally, To analysis the control effect of the controller for the flexible mechanical arm angle, angular velocity, vibration, torque control,this paper carries on an united simulation of the flexible manipulator model established by ADAMS and the part of control established by Matlab / Simulink.The result was compared with the traditional PID control analysis, which verifythe singular perturbation method can be very good for vibration control of flexible manipulator, and its control effect stronger than the traditional PID control.