Research On Vibration Control Algorithm Of A Flexible Manipulator Based On Fractional PD~μ Controller

Active vibration control technology of a flexible structure is always an important branch in the field of robot control system. Dynamic modeling of a manipulator with a flexible cantilever beam, active control and vibr ation suppression during the positioning of manipulator are studied deeply in this dissertation. The main contents of this dissertation are as the follows:Based on hypothesis mode method and Lagrange theory, a dynamic mathematical model of a manipulator with flexible cantilever appendages is established in this dissertation firstly. Then the model is represented by a state space model which can be analyzed much more easily.An optimal control algorithm for stabilization of this model is investigated in this dissertation. Both of the transient vibration and the amount of output energy during the positioning of manipulator are concerned as two main optimization goals. By selecting the weighting matrixs and solving the Riccati equation, a linear quadratic optimal controller is obtained. Theoretical analysis and experimental results show that the LQR controller in this dissertation can satisfy both pointing requirements and vibration suppression effectively.In recent years, with the continuous breakthroughs of fractional calculus in applications, fractional calculus theory is becoming a new hotspot in the field of aerospace engineering. Taking the low robustness of integer order controllers such as LQR and PD into consideration, a noval PDμ controller is designed to improve control performance. Theoretical analysis and experimental results show that compared to the integer order one, the noval fractional one is more robust and illustrates the stable pointing control and vibration suppression.A manipulator vibration control experimental platform is designed and built. Several experimental jobs are done to verify the feasibility of the control algorithms discussed in this dissertation. Also these works can be taken as a basic job for a future exploration.