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| 加载柔性臂振动的非线性应力反馈控制 | |
| 引用本文： | 张献文,韩京清. 加载柔性臂振动的非线性应力反馈控制[J]. 系统仿真学报, 2000, 12(2): 168-171 |
| 作者姓名： | 张献文 韩京清 |
| 作者单位： | 1. 山西大学数学系,太原,030006 2. 中科院系统所,北京,100080 |
| 基金项目： | 国家自然科学基金资助项目! (6 96 74 0 1 1 ) |
| 摘 要： | 用数值仿真的方法讨论了一种用新型的非线性应力反馈律来镇定加载柔性臂振动的问题。该方法使用跟踪微分器取得柔性臂根部应力信号的微分信号,并与根部应力信号一起组成非线性控制输入来控制加载柔性臂的振动.其镇定效果明显地优于有关问题的现有实验结果。 |
| 关 键 词： | 柔性臂 弯曲振动 跟踪－微分器 反馈控制 应力 |
Nonlinear Strain Feedback Control of Vivbrations for Flexible Robot Arms With a Tip Body |
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| Zhang Xian-Wen,Han Jing-Qing. Nonlinear Strain Feedback Control of Vivbrations for Flexible Robot Arms With a Tip Body[J]. Journal of System Simulation, 2000, 12(2): 168-171 | |
| Authors: | Zhang Xian-Wen Han Jing-Qing |
| Abstract: | This paper discusses control problems of flexible robot arms with a tip body rigidly attached at the free end by using new nonlinear strain feedback method. A Tracking Differentiator is used to track the root strain signal and to gain its differential signal.The two signals are taken as the nonlinear strain feedback input to control the vibrations of the flexible arms.The results of numerical simulation show that it has better control efficiency. |
| Keywords: | flexible beams vibrations tracking-differentiator feedback control numerical simulation |
| 本文献已被 CNKI 维普 万方数据 等数据库收录！ | |