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投稿时间：1995-07-11
投稿时间：1995-07-11
中文摘要: 本文用状态反馈方法对单连杆弹性手臂进行了控制实验.控制中依赖的模型由哈密顿原理和模态分析法推出.在单连杆弹性臂的实验装置中,用应变片来检测振动信号,微机作为控制器.实验结果表明:加入反馈控制后,对系统的振动抑制是有效的.
Abstract:In this paper, a state feedback controller is developed to control a one-link flexible robot arm. The model, on which the controller is based, is obtained by using Hamilton's principle and the mode analysis method. A set of experiments is constructed to demonstrate the control strategy for a flexible arm, where a strain gage was used as a vibration sensor and a microcomputer was equipped as a controller. The experimental result shows that the state feedback controller is useful for eliminating the effect of vibration.
文章编号：19960106 中图分类号： 文献标志码：
基金项目:
| 作者 | 单位 |
| 郭平 | 上海电力学院自动控制系 |
| Author Name | Affiliation |
| Guo Ping | Department of Automatic Control Engineering |
引用文本：
郭平.单连杆弹性手臂控制研究[J].上海电力大学学报,1996,12(1):31-41.
Guo Ping.Control of One-link Flexible Robot Arm[J].Journal of Shanghai University of Electric Power,1996,12(1):31-41.
郭平.单连杆弹性手臂控制研究[J].上海电力大学学报,1996,12(1):31-41.
Guo Ping.Control of One-link Flexible Robot Arm[J].Journal of Shanghai University of Electric Power,1996,12(1):31-41.