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　　本文研究了單度柔性連桿的響應(yīng),該柔性連桿的一個固定端附著在直流伺服電動機的旋轉(zhuǎn)基座上,自由端具有一個點質(zhì)量,并通過應(yīng)用La Grange-Euler方法獲得系統(tǒng)的動力學模型。拉格蘭奇的運動方程式。在柔性連桿操縱器的情況下,控制目標是實現(xiàn)所需的末端執(zhí)行器軌跡跟蹤并抑制末端執(zhí)行器的振動。這種系統(tǒng)的控制設(shè)計需要精確的動態(tài)模型,以獲得所需的性能要求。過去,許多基于模型的控制器都是為柔性鏈接操縱器開發(fā)的。柔韌性導(dǎo)致末端執(zhí)行器振動。機電模型通過有限元建模分別提出,最優(yōu)控制設(shè)計通過仿真綜合。當前的研究主要是為了在應(yīng)用常規(guī)控制器（例如PID）時調(diào)節(jié)在控制非線性柔性鏈接中遇到的主要問題,并著重強調(diào)諸如線性二次調(diào)節(jié)器（LQR）控制器之類的最佳控制功能,以改善鏈接的動態(tài)響應(yīng)。。提出了由機械模型和電氣模型組成的單連桿柔性機械手的仿真結(jié)果,以比較每個控制器在軌跡跟蹤和振動抑制方面的性能。在Ansys的幫助下完成了有限元分析仿真,以獲取實驗值。在MATLAB中開發(fā)了通用代碼,以導(dǎo)出用于數(shù)值仿真和控制設(shè)計的柔性機械手的單度動力學模型。在動態(tài)公式化中,最小作用原理用于導(dǎo)出用于通用目的的絕對坐標系中的運動方程。由比例-... 

【文章來源】：哈爾濱工業(yè)大學黑龍江省 211工程院校 985工程院校

【文章頁數(shù)】：103 頁

【學位級別】：碩士

【文章目錄】：
摘要
Abstract
Chapter 1 Introduction
    1.1 Source and Significance
    1.2 Research Spectrum and Literature Review
        1.2.1 Research History
        1.2.2 Research Abroad
        1.2.3 Research in China
        1.2.4 Analysis of Literature Review
    1.3 Main Research Contents
Chapter 2 Dynamic Modeling of the System
    2.1 State of the Art
        2.1.1 General Design of Flexible Manipulator
        2.1.2 System Design
    2.2 Dynamic Modeling (MECHANICAL)
        2.2.1 Mathematical Modeling (Mechanical)
    2.3 State Space Approach
        2.3.1 Introduction
        2.3.2 State Space Modeling
    2.4 Dynamic Modeling (Electrical)
        2.4.1 Mathematical Modeling (Electrical)
        2.4.2 Relation of I and τ
    2.5 5~(th) Order State Space Model
    2.6 Chapter Summary
Chapter 3 ANSYS Modeling & Motor Selection
    3.1 ANSYS Modeling
        3.1.1 Flexible Beam
        3.1.2 Geometry
        3.1.3 Beam Setup
        3.1.4 Material
        3.1.5 Mode Results
        3.1.6 Mathematical and ANSYS Validation
    3.2 Motor Selection
    3.3 Chapter Summary
Chapter 4 Control Design
    4.1 Recap
    4.2 Control of Flexible Manipulator
        4.2.1 Optimal Control
        4.2.2 Controllability
        4.2.3 Stability
    4.3 Controller Design Approach
        4.3.1 Linear Quadratic Regulator (LQR)
            4.3.1.1 Procedure of LQR
            4.3.1.2 Use of LQR
        4.3.2 Discrete Linear Quadratic Regulator (DLQR)
    4.4 Controller Simulink Model
        4.4.1 Control Simulation
        4.4.2 Simulink Model of LQR
        4.4.3 Base LQR Model
        4.4.4 Tuned LQR Model
            4.4.4.1 Procedure of Tuning LQR
        4.4.5 PID Controller
            4.4.5.1 P-Controller
            4.4.5.2 PI-Controller
            4.4.5.3 PID-Controller
        4.4.6 PID Controller Structure
        4.4.7 Tuning methods of PID Controller
        4.4.8 Trial and Error Method
    4.5 PID Simulink Model with Results
    4.6 Comparison between PID and LQR
    4.7 Chapter Summary
Conclusion
結(jié)論
Appendix MATLAB Code
References
Acknowledgement



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