控制理论(社会学)
伺服机构
伺服
PID控制器
观察员(物理)
伺服电动机
灵活性(工程)
控制器(灌溉)
控制工程
计算机科学
伺服控制
工程类
控制(管理)
数学
物理
量子力学
生物
统计
人工智能
温度控制
农学
作者
Dongyang Shang,Xiaopeng Li,Meng Yin,Fanjie Li
摘要
Abstract Many factors lead to fluctuations of output speed in the motor side during the movement processes in a flexible manipulator with an axially translating arm. These factors include the time‐varying characteristics of manipulator parameters, external disturbance, and flexibility in the manipulator. The vibration of flexible manipulators is strengthened by fluctuations of output speed, which seriously affects the motion accuracy. Therefore, a variable parameters proportional–integral (PI) control strategy based on disturbance observer is adopted to reduce fluctuations of output speed in a dual flexible servo system. First, the dynamic model of the dual flexible servo system is established by the assumed mode method. Then, the variable parameters PI control strategy is applied to the servo system, and the controller parameters in different conditions are selected by pole placement strategies. Finally, numerical simulations and control experiments of the servo system are carried out. The results show that the control strategy using the variable parameters and disturbance observer could reduce fluctuations of output speed and improve the motion accuracy of flexible manipulators.
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