本文關(guān)鍵詞：柔性機械臂的動力學建模與彈性振動控制研究　出處：《鄭州大學》2017年碩士論文　論文類型：學位論文

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

【摘要】：柔性機械臂作為剛?cè)狁詈隙囿w動力學系統(tǒng)的典型代表,廣泛應用于航空航天、機器人及現(xiàn)代智能制造領(lǐng)域中。對比體積龐大的剛性機械臂,柔性機械臂具有低耗能、操作空間大、載荷自重比高等優(yōu)點。在實際的操作過程中,柔性機械臂的運動往往由大范圍的剛體運動和由柔性體的彈性變形引起的彈性振動組成。這兩種不同的運動形式使得柔性機械臂系統(tǒng)是一個非線性的剛?cè)狁詈蠒r變系統(tǒng)。由于彈性振動的存在,使得柔性臂在運動過程中的定位精度下降,甚至降低系統(tǒng)的可靠性。針對柔性臂的振動問題,本文根據(jù)當前國內(nèi)外關(guān)于柔性系統(tǒng)動力學建模及彈性振動控制領(lǐng)域里的研究成果,對單連桿柔性機械臂的動力學特性和振動控制問題進行研究。主要研究內(nèi)容如下:首先,以結(jié)構(gòu)力學和機械振動為基礎(chǔ),建立末端具有集中質(zhì)量的單連桿柔性機械臂的數(shù)學模型,采用假設模態(tài)方法描述柔性機械臂彈性變形并進行動力學分析�；贚agrange方程建立柔性臂的動力學方程并推導出狀態(tài)空間表達式,分析柔性臂的前六階模態(tài),為后續(xù)的振動控制器設計和實驗仿真提供依據(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,運用線性二次型最優(yōu)控制對柔性機械臂進行振動控制。選取不同的加權(quán)矩陣,實驗結(jié)果證實能有效抑制柔性臂末端彈性振動。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能量,改善振動抑制效果。最后,采用前饋控制的方式,研究柔性機械臂的彈性抑振問題。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)化基于五次多項式函數(shù)軌跡規(guī)劃下的柔性機械臂運動軌跡。利用五次多項式函數(shù)插值得到優(yōu)化后的最優(yōu)振動控制軌跡曲線。與優(yōu)化前的運動軌跡相比,優(yōu)化后的柔性機械臂在最優(yōu)軌跡控制下能有效衰減末端殘余振動能量。研究內(nèi)容和實驗結(jié)果不僅對單桿柔性機械臂系統(tǒng)的動力學建模及振動控制有實用價值,而且也為更復雜的柔性系統(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.
【學位授予單位】：鄭州大學
【學位級別】：碩士
【學位授予年份】：2017
【分類號】：TP241

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本文編號：1418611