Dynamic study and vibration control on the flexible manipulator with feedback control

被引：0
|
作者：
Zhang, Tiemin
Li, Chengyuan
机构：
来源：
Jixie Gongcheng Xuebao/Chinese Journal of Mechanical Engineering | 2000年 / 36卷 / 03期
关键词：
Boundary conditions - Feedback control - Frequency domain analysis - Mathematical models - Mathematical transformations - Time domain analysis - Transfer functions - Vibration control;
D O I：
10.3901/jme.2000.03.047
中图分类号：
学科分类号：
摘要：
The hub boundary condition of the flexible manipulator with feedback control is different from pinned free or clamped free hub boundary condition. So a pinned-spring boundary condition is used as the hub boundary condition. And the dynamic model of flexible manipulator and derived the transfer functions with the electric-mechanic coupling character are set up by using the tip angular position of the beam as output and the desired angular position as input. The linear quadratic objective function in time domain is transformed into an objective function in frequency domain according to the Parsvel theorem, and the strain feedback gains are got. A series of experimental results testify the theoretical analysis.
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页码：47 / 50
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