Research On Multi-model Adaptive Control Of Flexible Manipulator

Rigid manipulator has large volume,large mass and small flexibility.Flexible manipulator with light weight and high flexibility can adapt to complex and changeable working environment.With the popularization of flexible manipulator,the field of application of flexible manipulators is becoming wider and wider,but due to the control of flexible manipulators.Because the structure of flexible manipulator is difficult to control,the research of its system modeling and control method is of great significance to the development of automatic control.In this paper,the flexible link manipulator manufactured by QUANSER Company is taken as a reference object.The modeling method of flexible link manipulator is discussed.Based on this model,the multi-model adaptive control method of flexible link manipulator is studied,and its control method is verified on the actual flexible link manipulator.The main contents of this paper are as follows:Firstly,through reading the related articles of flexible link manipulators at home and abroad,we can understand the current research situation,the causes of flexibility,the modeling method and the control difficulties of flexible link manipulators.After understanding the characteristics of flexible link manipulators,we use Lagrange dynamics equation to establish the mathematical model of flexible link manipulators,and take the manipulator of QUANSER Company as an example to give the derivation process of flexible link manipulator.Then,based on the mathematical model of the manipulator,the PID control of the flexible link system is studied.According to the control effect of PID control,the difficulties of control flexible link manipulator are understood.A reasonable control method is designed for the difficulties,and the effectiveness of the multi-model adaptive control for the flexible link manipulator system is verified by SIMULINK simulation.The shortcomings of multi-model adaptive control is improved.RBF neural network is used to optimize the model set,and the optimized controller issimulated again to verify its effect.Finally,a multi-model adaptive control experiment is carried out on a flexible manipulator manufactured by QUANSER Company,and the effectiveness of the multi-model adaptive control of the flexible manipulator is verified by the control results.