本文關(guān)鍵詞：柔性機(jī)械臂的動(dòng)力學(xué)建模與彈性振動(dòng)控制研究　出處：《鄭州大學(xué)》2017年碩士論文　論文類(lèi)型：學(xué)位論文

  更多相關(guān)文章： 柔性機(jī)械臂 振動(dòng)控制 最優(yōu)控制 遺傳算法 軌跡跟蹤

【摘要】：柔性機(jī)械臂作為剛?cè)狁詈隙囿w動(dòng)力學(xué)系統(tǒng)的典型代表,廣泛應(yīng)用于航空航天、機(jī)器人及現(xiàn)代智能制造領(lǐng)域中。對(duì)比體積龐大的剛性機(jī)械臂,柔性機(jī)械臂具有低耗能、操作空間大、載荷自重比高等優(yōu)點(diǎn)。在實(shí)際的操作過(guò)程中,柔性機(jī)械臂的運(yùn)動(dòng)往往由大范圍的剛體運(yùn)動(dòng)和由柔性體的彈性變形引起的彈性振動(dòng)組成。這兩種不同的運(yùn)動(dòng)形式使得柔性機(jī)械臂系統(tǒng)是一個(gè)非線性的剛?cè)狁詈蠒r(shí)變系統(tǒng)。由于彈性振動(dòng)的存在,使得柔性臂在運(yùn)動(dòng)過(guò)程中的定位精度下降,甚至降低系統(tǒng)的可靠性。針對(duì)柔性臂的振動(dòng)問(wèn)題,本文根據(jù)當(dāng)前國(guó)內(nèi)外關(guān)于柔性系統(tǒng)動(dòng)力學(xué)建模及彈性振動(dòng)控制領(lǐng)域里的研究成果,對(duì)單連桿柔性機(jī)械臂的動(dòng)力學(xué)特性和振動(dòng)控制問(wèn)題進(jìn)行研究。主要研究?jī)?nèi)容如下:首先,以結(jié)構(gòu)力學(xué)和機(jī)械振動(dòng)為基礎(chǔ),建立末端具有集中質(zhì)量的單連桿柔性機(jī)械臂的數(shù)學(xué)模型,采用假設(shè)模態(tài)方法描述柔性機(jī)械臂彈性變形并進(jìn)行動(dòng)力學(xué)分析�；贚agrange方程建立柔性臂的動(dòng)力學(xué)方程并推導(dǎo)出狀態(tài)空間表達(dá)式,分析柔性臂的前六階模態(tài),為后續(xù)的振動(dòng)控制器設(shè)計(jì)和實(shí)驗(yàn)仿真提供依據(jù)。其次,采用反饋控制的形式,根據(jù)線性二次型最優(yōu)控制的基本原理,運(yùn)用線性二次型最優(yōu)控制對(duì)柔性機(jī)械臂進(jìn)行振動(dòng)控制。選取不同的加權(quán)矩陣,實(shí)驗(yàn)結(jié)果證實(shí)能有效抑制柔性臂末端彈性振動(dòng)。采用遺傳算法搜索最優(yōu)的加權(quán)矩陣,優(yōu)化后的線性二次型最優(yōu)控制與優(yōu)化前相比,能更快的衰減末端振動(dòng)能量,改善振動(dòng)抑制效果。最后,采用前饋控制的方式,研究柔性機(jī)械臂的彈性抑振問(wèn)題。分析在不同軌跡規(guī)劃函數(shù)下的角位移及角速度,采用遺傳算法優(yōu)化基于五次多項(xiàng)式函數(shù)軌跡規(guī)劃下的柔性機(jī)械臂運(yùn)動(dòng)軌跡。利用五次多項(xiàng)式函數(shù)插值得到優(yōu)化后的最優(yōu)振動(dòng)控制軌跡曲線。與優(yōu)化前的運(yùn)動(dòng)軌跡相比,優(yōu)化后的柔性機(jī)械臂在最優(yōu)軌跡控制下能有效衰減末端殘余振動(dòng)能量。研究?jī)?nèi)容和實(shí)驗(yàn)結(jié)果不僅對(duì)單桿柔性機(jī)械臂系統(tǒng)的動(dòng)力學(xué)建模及振動(dòng)控制有實(shí)用價(jià)值,而且也為更復(fù)雜的柔性系統(tǒng)研究提供了方法和思路。
[Abstract]:As a typical representative of rigid-flexible coupling multi-body dynamics system, flexible manipulator is widely used in aerospace, robot and modern intelligent manufacturing field. Flexible manipulator has the advantages of low energy consumption, large operating space, high load to weight ratio and so on. The motion of flexible manipulator is usually composed of a wide range of rigid body motion and elastic vibration caused by elastic deformation of flexible body. These two different motion forms make the flexible manipulator system a nonlinear rigid-flexible coupling. Variable systems. Due to the existence of elastic vibration. The positioning accuracy of the flexible arm in the process of motion is reduced, and even the reliability of the system is reduced, aiming at the vibration of the flexible arm. This paper is based on the current domestic and foreign research achievements in the field of dynamic modeling and elastic vibration control of flexible systems. The dynamic characteristics and vibration control of single link flexible manipulator are studied. The main contents are as follows: firstly, based on structural mechanics and mechanical vibration. The mathematical model of single link flexible manipulator with concentrated mass at the end is established. The dynamic equations of flexible manipulators are established based on Lagrange equation and the expression of state space is derived. The first six modes of the flexible arm are analyzed to provide the basis for the subsequent vibration controller design and experimental simulation. Secondly, the feedback control is adopted according to the basic principle of linear quadratic optimal control. The linear quadratic optimal control is used to control the vibration of the flexible manipulator. Different weighting matrices are selected. The experimental results show that the elastic vibration at the end of the flexible arm can be suppressed effectively. Genetic algorithm is used to search the optimal weighting matrix. The optimized linear quadratic optimal control can attenuate the vibration energy of the end faster than that before the optimization. Finally, the elastic vibration suppression problem of flexible manipulator is studied by feedforward control. The angular displacement and angular velocity under different trajectory planning functions are analyzed. Genetic algorithm is used to optimize the trajectory of flexible manipulator based on the trajectory planning of quintic function. The optimal trajectory curve of vibration control is obtained by interpolation of quintic function. Compared to. The optimized flexible manipulator can effectively attenuate the residual vibration energy of the end under the optimal trajectory control. The research contents and experimental results are not only of practical value for the dynamic modeling and vibration control of the single rod flexible manipulator system. It also provides methods and ideas for the study of more complex flexible systems.
【學(xué)位授予單位】：鄭州大學(xué)
【學(xué)位級(jí)別】：碩士
【學(xué)位授予年份】：2017
【分類(lèi)號(hào)】：TP241

【相似文獻(xiàn)】

相關(guān)期刊論文 前10條

1 閻紹澤,季林紅,劉才山,張鐵民,劉又午;柔性機(jī)械臂結(jié)構(gòu)-控制耦合特征的實(shí)驗(yàn)研究[J];機(jī)械科學(xué)與技術(shù);2000年05期

2 張慶,王華坤,張世琪;組合柔性機(jī)械臂變形及滯遲特性分析[J];機(jī)械設(shè)計(jì);2005年05期

3 劉廣瑞;柔性機(jī)械臂振動(dòng)控制研究[J];機(jī)電產(chǎn)品開(kāi)發(fā)與創(chuàng)新;2005年03期

4 張雪蓮;潘鐵強(qiáng);;柔性機(jī)械臂控制方法的研究[J];科技信息(學(xué)術(shù)研究);2006年09期

5 崔玲麗;張建宇;高立新;肖志權(quán);;柔性機(jī)械臂系統(tǒng)動(dòng)力學(xué)建模的研究[J];系統(tǒng)仿真學(xué)報(bào);2007年06期

6 李坤;，

本文編號(hào)：1418611