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

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...

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