CAJ | 학술논문

针对单连杆柔性臂的点对点定位问题，提出了动态滑模控制与最优控制相结合的混合控制方法。首先，利用奇异摄动法将柔性臂系统分为慢变和快变两个子系统，并分别设计控制器。然后，对慢变子系统采用基于动态切换函数的动态滑模控制，该方法考虑到了执行机构的动态特性，可以消除控制输入的抖振。快变子系统经变换后呈线性系统，故采用简单的最优控制即可快速有效地抑制振动。最后，数值仿真结果表明，该方法不仅有效地降低了滑模控制所固有的抖振，而且能实现柔性臂的精确定位和振动抑制。
침대단련간유성비적점대점정위문제，제출료동태활모공제여최우공제상결합적혼합공제방법。수선，이용기이섭동법장유성비계통분위만변화쾌변량개자계통，병분별설계공제기。연후，대만변자계통채용기우동태절환함수적동태활모공제，해방법고필도료집행궤구적동태특성，가이소제공제수입적두진。쾌변자계통경변환후정선성계통，고채용간단적최우공제즉가쾌속유효지억제진동。최후，수치방진결과표명，해방법불부유효지강저료활모공제소고유적두진，이차능실현유성비적정학정위화진동억제。
A composite controller is designed based on the singular perturbation model of one-link flexible manipulators. A dynamic sliding mode controller is designed for the slow subsystem, and optimal controller is designed to stabilize the fast subsystem. Numerical simulation results confirm that the proposed controller not only can perform fast and accurate tracking, but also can reduce the chattering of the sliding-mode control, and the proposed controller can suppress the tip vibration of the flexible manipulators effectively.