摘要
针对挖掘机机械臂在运行过程中轨迹追踪和振动控制问题,建立了刚柔耦合挖掘机机械臂非线性动力学模型,对模型中关节角变量和弹性变量两部分进行解耦,并对挖掘机机械臂轨迹追踪和残余振动抑制进行计算,最后根据计算数据对建立相关模型进行数值验证。研究结果表明,挖掘机机械臂刚柔性耦合轨迹跟踪控制方法是有效的,利用线性二次型最优控制方法对挖掘机机械系统由柔性机械臂的弹性变形所引起的残余振动起到了明显的抑制效果。
For the problems of excavator manipulator trajectory tracking during operation and vi- bration control, the rigid--flexible coupling nonlinear dynamics model of excavator manipulator is es- tablished, the decoupling of two parts of joint angle variables and the elastic variables in the model is carried out, the excavator manipulator trajectory tracking and residual vibration suppression is calcu- lated, the numerical verification of establishing related model is carried out according to the calculation data. The results show that excavator rigid--flexible coupling manipulator trajectory tracking control method is effective, linear quadratics optimal control method by the residual vibration of mechanical systems excavator elastic deformation caused by the flexible manipulator has played a significant inhibi- tory effect.
出处
《机械传动》
CSCD
北大核心
2014年第12期133-136,140,共5页
Journal of Mechanical Transmission
关键词
挖掘机
机械臂
刚柔耦合
线性二次型
Excavator Manipulator arm Rigid flexible coupling Linear quadrics
