Integrated Structure and Control Design for Flexible Manipulator System
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摘要: 综合考虑机械结构和控制器对系统性能的影响,采用结构与控制一体化设计方法对单连杆柔性机械臂系统进行了研究,同时优化设计参数包括柔性机械臂结构参数和控制器参数.为兼顾系统鲁棒性和抑制末端柔性振动性能,采用H∞鲁棒控制器.结构设计变量的参数寻优采用智能优化算法.设计结果表明.柔性机械臂具有非均匀截面梁结构,设计的控制器对系统参数的不确定性有较好的鲁棒性.Abstract: To consider the effects of both mechanic structure and controller on the system performance,inte- grated structure and control design method is used for the flexible manipulator.At the same time,the optimal parameters which include the parameters of flexible manipulator structure and the controller parameters are designed.To guarantee both robustness and tip vibration suppression of the system,H∞robust controller is used.Structural design variables are optimized by using intelligent optimization algorithms that is an improved genetic algorithms.Design results demonstrate that the optimized manipulator is the structure of non-uniform cross-section beam and the designed controller is robust to the system parametric uncertainties.
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Keywords:
- flexible manipulators /
- integrated design /
- robust control /
- genetic algorithms
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