| 单连杆柔性臂模糊控制 |
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| 引用本文： | 吕凤琳,俞丽敏,张友安.单连杆柔性臂模糊控制[J].海军航空工程学院学报,2004,19(1):145-148. |
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| 作者姓名： | 吕凤琳 俞丽敏 张友安 |
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| 作者单位： | 1. 海军航空工程学院自动控制系,烟台,264001
2. 烟台毓璜顶医院总控室,烟台,264000 |
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| 基金项目： | 清华大学智能技术与系统国家重点实验室开放基金资助项目 |
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| 摘 要： | 以单连杆柔性臂为例,提出了模糊控制与最优控制相结合的混合控制方法。首先,采用奇异摄动将系统分为慢变和快变两个子系统。然后,对慢变子系统采用模糊控制,快变子系统采用最优控制。仿真结果表明,该方法不仅能实现柔性臂轨迹的快速、准确跟踪,有效地抑制弹性振动,并且对负载的变化具有强的鲁棒性。
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| 关 键 词： | 单连杆 柔性臂 奇异摄动 模糊控制 最优控制 |
| 修稿时间： | 2003年8月6日 |
Fuzzy Control for One-Link Flexible Manipulator |
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| LU Feng-lin,YU Li-min,ZHANG You-an.Fuzzy Control for One-Link Flexible Manipulator[J].Journal of Naval Aeronautical Engineering Institute,2004,19(1):145-148. |
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| Authors: | LU Feng-lin YU Li-min ZHANG You-an |
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| Institution: | LU Feng-lin ZHANG You-an Department of Automatic Control,NAEI,Yantai,264001,
YU Li-min Yuhuangding Hospital,Genera/Control Section,Yantai,264001 |
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| Abstract: | A composite controller is designed for one-link flexible manipulator.Firstly,the model of one-link flexible manipulator is convened into a singular perturbation model,which is slow subsystem and fast subsystem. Then,a fuzzy control is designed for the slow subsystem,and an optimal control is designed to stabilize the fast subsystem.Finally,numerical simulation results confirm that the proposed controller not only can perform fast and accurate tracking,but also can suppress tip vibration effectively,and has strong robustness to load varying. |
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| Keywords: | one-link flexible manipulator singular perturbation fuzzy control optimal control |
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