Dynamic Control Of Flexible Manipulator Based On Optimization Algorithm

The flexible manipulator system has the characteristics of non-linearity,multi-variables,time-varying,etc.,as well as the uncertainty of load changes and external disturbances.It is difficult to establish an accurate dynamic model,which is very important for achieving stable,fast and accurate trajectory tracking control.Hinder.Therefore,the research on trajectory tracking control and residual vibration suppression of flexible manipulators has high theoretical and practical value.In this thesis,the dynamic model of the flexible manipulator is established,The control of the flexible manipulator is divided into rigid dynamic control module and flexible dynamic control module.Then the corresponding controller is designed to suppress the residual vibration of the flexible manipulator.The specific work arrangement is as follows:(1)Comparing the two kinds of elastic deformation,a new elastic description method is used to establish the nonlinear dynamic model of the flexible beam and the flexible manipulator.An external input is used to excite the vibration of the flexible arm,and the joint angle method is used to analyze the vibration of the flexible manipulator.The vibration analysis of the nonlinear model is compared with that of the simplified model to reveal the influence of the nonlinear dynamics on the flexible vibration.(2)Decompose the dynamic equation of the flexible manipulator into a flexible dynamic subsystem and a rigid dynamic subsystem,and design the controller of the flexible manipulator with the decomposed dynamic control.The flexible dynamic control uses feed-forward to obtain the desired trajectory.In feed-forward control,Using input shaping technology to suppress vibration.The rigid dynamic control module is used to track the desired trajectory,and a hybrid sliding mode control and optimized compound control method is proposed to design the controller of the flexible manipulator.(3)Approximately model the dynamics of the flexible manipulator and compare the two sets of simulation calculations under the action of the desired trajectory and the initial trajectory to verify the effectiveness of the optimization algorithm.By tracking the initial trajectory and the desired trajectory to account for the residual vibration under corresponding excitation,an optimization problem is used to determine the desired trajectory and reduce the residual vibration.