PD boundary control simulation method for transverse vibration of flexible mechanical arm

A flexible manipulator, lateral vibration technology, applied in the direction of adaptive control, general control system, control/regulation system, etc., can solve the problem that the semi-physical simulation of flexible manipulator vibration boundary control is rarely reported.

Inactive Publication Date: 2015-04-29
SOUTH CHINA UNIV OF TECH
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  • Abstract
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Problems solved by technology

[0003] Scholars at home and abroad are mostly in the theoretical research stage on the vibration boundary control of flexible manipulators, but there are few reports on the semi-physical simulation of the vibration boundary control of flexible manipulators.

Method used

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  • PD boundary control simulation method for transverse vibration of flexible mechanical arm
  • PD boundary control simulation method for transverse vibration of flexible mechanical arm
  • PD boundary control simulation method for transverse vibration of flexible mechanical arm

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Embodiment

[0046] Such as figure 1 As shown in Fig. 1, a simulation method for PD boundary control of lateral vibration of a flexible manipulator is mainly composed of three modules. The model analysis uses the differential discrete method to discretize the partial differential equation, and then dynamically simulates the vibration of the flexible manipulator; the serial port communication module ensures real-time communication between the model analysis module and the control module through the agreement between the PC and the ARM development board. Data communication; the control module displays the vibration offset of the flexible manipulator in real time, and sends control signals to the PC through the ARM development board to monitor the vibration data of the flexible manipulator.

[0047]A method for simulating PD boundary control of lateral vibration of a flexible manipulator, comprising

[0048] S1 builds the Matlab GUI interface on the PC to simulate the vibration of the flexib...

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Abstract

The invention discloses a PD boundary control simulation method for transverse vibration of a flexible mechanical arm. The method comprises the steps that a Matlab GUI interface is established on a PC; a partial differential equation is discretized based on a difference discretization method to simulate vibration of the flexible mechanical arm, and discretized data are transmitted to a control module through a serial communication module; the control module designs a PD boundary control algorithm according to the data and converts the PD boundary control algorithm into an electric signal, and the electric signal is transmitted back to the PC through a serial port. Accordingly, vibration data of the flexible mechanical arm can be monitored.

Description

technical field [0001] The invention relates to the field of vibration control, in particular to a PD boundary control simulation method for lateral vibration of a flexible mechanical arm. Background technique [0002] Flexible manipulators are widely used in engineering fields such as robotics, mechanical engineering, and aerospace technology due to their advantages of light weight, low energy consumption, and greater mobility with less power. The flexible manipulator is a strongly coupled and strongly nonlinear time-varying structure, but its working state is seriously affected due to elastic deformation, which hinders its wide application in engineering. How to avoid, reduce and eliminate the influence of elastic deformation and elastic vibration from the aspects of structural design, kinematics, dynamics and control is an urgent problem to be solved. Therefore, research on the structural design and control methods of flexible manipulators must be carried out. The flexi...

Claims

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Application Information

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IPC IPC(8): G05B13/04
Inventor 赵志甲刘屿许冰霜
Owner SOUTH CHINA UNIV OF TECH
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