传动柔性及负载变化弹药传输机械臂的位置控制及柔性振动抑制

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振动与冲击 ›› 2015, Vol. 34 ›› Issue (22) : 1-8.

论文

郭宇飞，侯保林

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Positioning Control and Elastic Vibration Suppressing of an Ammunition Transfer Manipulator with Transmission Flexibility and Payload Uncertainty

Guo Yufei Hou Baolin

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文章历史 +

摘要

针对现有坦克自动装弹机无法实现任意角度装填的问题，设计了一个两自由度的弹药传输机械臂。研究了考虑链条、转铰柔性且负载变化情况下弹药传输机械臂的位置控制与柔性振动抑制。将链条与转铰简化为线性的无惯量弹簧，以此为基础，采用第二类Lagrange方法建立了弹药传输机械臂的刚柔耦合动力学模型。基于奇异摄动技术设计了系统的混合控制策略，其中，柔性振动抑制采用速度反馈控制；刚性部分的大范围运动采用一种基于隐式Lyapunov函数的连续时变增益PD控制，控制器的增益是系统状态变量的可微函数，随着系统状态变量逐渐趋向于零，该增益逐渐趋向于无穷大，但是控制力始终保持在有界的范围内。仿真结果显示，所设计的混合控制器可以克服负载变化及柔性振动的影响，实现了弹药传输机械臂的点到点的位置控制及柔性振动抑制，具有非常强的鲁棒性。

Abstract

This paper deals with positioning control and elastic vibration suppressing problems of a novel 2-DOF ammunition transfer manipulators with joint chain flexibility and payload uncertainty. Regarding the joint and chain’s elasticity as non-inertial spring, the dynamic model of the manipulator was obtained via Lagrange method. Based on the singular perturbation method, the model was decomposed into two part, a fast subsystem and a slow subsystem. For the fast subsystem, a velocity difference feedback controller was proposed to suppress the vibration of the flexibility. For the slow subsystem, a PD controller with continuous time-varying gains was designed based on a given implicit Lyapunov function. The controller's gains, which are the continuous-differential function of the state, increase and tend to infinity as the system approaching the original state, but the control force always satisfies the given constrain. Simulation results demonstrate that the controller greatly compensates the effects of transmission flexibility and payload uncertainty, fulfills the accurate point to point control of the ammunition transfer manipulator, and has good robustness.

导出引用

郭宇飞，侯保林. 传动柔性及负载变化弹药传输机械臂的位置控制及柔性振动抑制[J]. 振动与冲击, 2015, 34(22): 1-8

Guo Yufei Hou Baolin. Positioning Control and Elastic Vibration Suppressing of an Ammunition Transfer Manipulator with Transmission Flexibility and Payload Uncertainty[J]. Journal of Vibration and Shock, 2015, 34(22): 1-8

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