机械臂的自动控制系统.pptx

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1、single‐linkflexible robot armwangyuanArrangement：M1: Build this system in Simulinkwith D/A and A/D convertersM2: Design a state‐feedback controller (any form are OK)M3: Design a observer (full‐order or reduced‐order)M4: Design output‐feedback controller directly (e.g. PID)Group 4:  single‐linkfle

2、xible robot arm（m2l2）（m1l1）1.Thedynamicsequationofmechanicalarm:1)Positionequationof manipulator operationend：JacobianMatrix：Statetransformation:2)Thedynamicsequationofmechanicalarm::Thetotal drivingmomentvector:Theangleofrotation vectorM(θ):CoriolisCentrifugaltorqueInertiaG(θ):ThegravityvectorM(

3、θ):InertiamatrixThemathematicalexpression:Simultaneous:(1)(2)(3)ThemathematicalexpressionandThequantitativevalue:(7)3)Definedstatevariables:X=[]^THypothesisandtheassumptionthatthevariables:Theformof statetransformationmatrix:Theoutputofthesystemequations:4)Mechanicalarmmodel equationofstate:State

4、equation:2.Themechanicalarmodellinearization1)ThevalueoftheparameterAssignmentfor(4)(5)(6):a1=3.77a2=2.12a3=0.70a4=80.32a5=24.072)Therelative order ofcomputingsystem(计算系统相对阶)Afterthetwo column is0,Thefirsttwo linesof all0,And:The systeminthe neighborhood ofa inx,Ontheoutputfor,Nonsingular,，Therel

5、ative order ofthesystemis2.3)Coordinatetransformation4)Systemisconvertedinto standardtype:Theoutput5)Statefeedbackmatrix,,Thesystembecome acompletelycontrollablelinearsystem2.StatefeedbackcontrolTheconstitutionofthestatefeedbackstatefeedbacku=-Kx+vStatedescription of close‐loopsystem=(A-BK)x+Bv

6、Solution:Becausethesystemcanbecontrolcompletely,soallitspolescanbearbitraryconfiguration.3.Design a observer (full‐order or reduced‐order)TheflexiblemechanicalarmvibrationforceanalysisTheobserverdesignandanalysisTotheautomaticcontrolsystemaccurately,itisnecessarytogettheaccuratevaluesofallstatus

7、system.However,withtheincreaseofsystemcomplexity,relyonthestateofsensorstomeasureinformationwillincreasethecomplexityofhardware,mayevenleadtosysteminstability.Andsomestateinformationberestrictedconditions,throughphysic