摘要
应用模态控制理论，对柔性机械臂的主动控制问题中的动力学模型进行了研究。在小变形假设的前提下，考虑由于横向变形而引起的轴向位移的影响，采用拉格朗日方程建立了计及动力刚化项的动力学模型，并将ＰＤ控制理论和方法应用于该模型。最后，对一单杆柔性机械臂的振动控制进行了计算机仿真。
The dynamic modelling of a flexible beam in the active vibration control is studied by using modal theory. Based on the assumption of small deflection and considering the affection of the axial displacement caused by the tranverse deflection, the dynamic equations are established with the dynamic equations of Lagrange. Then the PD control methodology is applied in this modelling. Finally the computer simulation for a flexible beam of active vibration control is carried out in this paper.
出处
《山东建筑工程学院学报》
1997年第2期81-86,共6页
Journal of Shandong Institute of Architecture and Engineering
