Vibration control method of flexible mechanical arm based on cooperative tracking

Abstract

The invention discloses a vibration control method of a flexible mechanical arm based on cooperative tracking. The method comprises the following steps that a dynamic model of a flexible mechanical arm is constructed based on dynamic characteristics; a flexible mechanical arm group consisting of the plurality of flexible mechanical arms is constructed, one flexible mechanical arm is designated asa leader, the other flexible mechanical arms are designated as followers, the followers need to track the motion track of the leader so as to realize cooperative work, a boundary controller based on cooperative control is constructed by combining a Lyapunov method, cooperative work of the flexible mechanical arms is realized, and vibration of the flexible mechanical arms is restrained; and the Lyapunov function is constructed by the Lyapunov direct method to verify the stability of the flexible mechanical arm under the action of controllers. According to the vibration control method based on cooperative tracking, the vibration of the flexible mechanical arm can be effectively restrained, the followers can track the motion track of the leader, and the cooperative control effect of the plurality of flexible mechanical arms is achieved.

Description

technical field [0001] The invention relates to the technical field of vibration control, in particular to a vibration control method of a flexible mechanical arm based on cooperative tracking. Background technique [0002] Flexible structures have the advantages of light weight and low energy consumption, so they are widely used in engineering fields such as robotic arms, mechanical engineering, and spacecraft. Flexible manipulators have important applications in industrial fields, such as robotics, mechanical engineering, aerospace, etc. In the study of flexible manipulators, the Euler-Bernoulli beam is usually used as the basic model. The elastic deformation caused by the external disturbance will lead to the long-term continuous elastic vibration of the flexible manipulator, which will affect the normal operation of the system. Therefore, reducing or eliminating the elastic deformation and vibration of the flexible manipulator is a problem that needs to be solved. The...

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Problems solved by technology

[0004] At present, most researches on the vibration control of flexible manipulators use PID control, robust control and other methods, but there are few reports on the vibration control method based on cooperative tracking of a flexible manipulator group composed of multiple flexible manipulators.

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