| 基于控制系统模型降阶的柔性机械臂模态截断技术 |
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| 引用本文： | 刘广瑞,李军伟,张新义,刘又午. 基于控制系统模型降阶的柔性机械臂模态截断技术[J]. 山东理工大学学报：自然科学版, 1998, 0(3) |
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| 作者姓名： | 刘广瑞 李军伟 张新义 刘又午 |
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| 作者单位： | 山东工程学院汽车学院(刘广瑞，李军伟)，山东工程学院科研处(张新义)，天津大学(刘又午) |
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| 摘 要： | 本文提出了基于均衡实现的柔性机械臂模态截断方法,求取了单连杆柔性机械臂状态空间表达式的均衡实现,并以此为依据对控制模型和动力学模型进行了截断,所得结果与实验结果一致。
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| 关 键 词： | 均衡实现 柔性机械臂 控制模型降阶 模态截断 |
Modality Truncatio Method for Flexible Mechanical Arm Based on Lowering-Order of Control System Model |
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| Liu Guangrui Zhang Xinyi. Modality Truncatio Method for Flexible Mechanical Arm Based on Lowering-Order of Control System Model[J]. Journal of Shandong University of Technology:Science and Technology, 1998, 0(3) |
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| Authors: | Liu Guangrui Zhang Xinyi |
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| Affiliation: | Liu Guangrui Zhang Xinyi( Automobile College ) ( Department of Scientific Research ) |
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| Abstract: | This paper deals with the modality truncatio method for flexible mechanical arm based on equilibrium realization, obtains the equilibrium realization of space expressions for single link flexible arm, and carries out truncation of both control and dynamic models thereby. |
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| Keywords: | Equilibrium realization Flexible mechanical arm Lowering-order con-trol system Model truncation |
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