基础振动下单自由度机械臂的动力学控制

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提出基础振动下单自由度机械臂的基于混合灵敏度函数的H∞控制算法。首先运用拉格朗日法建立机械臂的动力学方程;其次将参数不确定系统的控制问题转化为机械臂的频域控制问题以及混合灵敏度函数整形问题,并运用MATLABμ-综合工具箱中的D-K迭代算法设计控制器。分析结果表明,所设计的控制器能够使系统具有良好的鲁棒性和鲁棒稳定性。 The article puts forward the H∞ control method based on mixed sensitivity functions for one-degree-of-freedom arm with oscillating base.Firstly,the dynamic equation of the problem is discussed through Lagrange＇s equation of motion.Then,the control system with parametric uncertainties is converted to a frequency-dependent control problem and sensitivity shaping problem.D-K iteration in MATLAB μ-Analysis and Synthesis Toolbox is used to design H∞ controller.The results show that the designed controller can desirably reduce disturbances due to the base motion and has the robustness and stability.