Research On Vibration Suppression Of Flexible Manipulator Based On Singular Perturbation Principle

With the development of society,robot technology is gradually known by people.The application of flexible manipulator has changed from the initial rigid arm to the flexible manipulator.And flexible manipulator has the advantage of low energy consumption and high efficiency,which is applied in many important fields.But in practical application,lightweight materials will cause vibration,which will affect the working accuracy of the manipulator and reduce the working efficiency.If it is serious,it will reduce the life of system,so it is necessary to suppress the vibration of the flexible manipulator.In this paper,the dynamic model of the single link-flexible manipulator is established though the assumed mode method describing elastic deformation and Lagrange deducting.Comparing the modal analysis results by MATLAB and ANSYS,the correctness of elastic description is verified,and it shows that the vibration research only needs to take the low order mode.The flexible manipulator system has the characteristics of rigid flexible coupling,so it is difficult to establish the corresponding controller to control them.Therefore,the singular perturbation principle is used to decompose the dynamic equations.It can decompose the flexible arm system into two low order systems in two time scales,the slow subsystem represent rigidity and the fast subsystem represent flexibility.The vibration of flexible arm is obtained by giving different force to the flexible manipulator model though MATLAB,and the dynamic characteristics of the flexible manipulator system are studied.The RBF sliding mode controller makes the slow subsystem control the flexible manipulator track trajectory,and it's better than PID method in the aspect of tracking by simulation in MATLAB/Simulink.Then,the LQR controller is used to suppress the vibration of manipulator for the fast subsystem.And the influence of weighting matrix for system is studied by simulation,it's convenient for the controller parameter adjustment.Finally,the simulation proves the total controller can not only make the manipulator track ideal trajectory,but also suppress vibration quickly.