CAJ | 학술논문

针对现有坦克自动装弹机无法实现任意角度装填问题，设计出两自由度的弹药传输机械臂。研究考虑链条、转铰柔性且负载变化情况弹药传输机械臂位置控制与柔性振动抑制。将链条与转铰简化为线性无惯量弹簧，采用第二类Lagrange方法建立弹药传输机械臂刚柔耦合动力学模型。基于奇异摄动技术设计系统混合控制策略，柔性振动抑制采用速度反馈控制；刚性部分大范围运动采用基于隐式Lyapunov函数的连续时变增益PD控制，控制器增益为系统状态变量的可微函数，随系统状态变量逐渐趋向于零，增益逐渐趋于无穷大，而控制力始终保持在有界范围内。仿真结果显示，该混合控制器能克服负载变化及柔性振动影响，实现弹药传输机械臂点到点位置控制及柔性振动抑制，具有较强的鲁棒性。
침대현유탄극자동장탄궤무법실현임의각도장전문제，설계출량자유도적탄약전수궤계비。연구고필련조、전교유성차부재변화정황탄약전수궤계비위치공제여유성진동억제。장련조여전교간화위선성무관량탄황，채용제이류Lagrange방법건립탄약전수궤계비강유우합동역학모형。기우기이섭동기술설계계통혼합공제책략，유성진동억제채용속도반궤공제；강성부분대범위운동채용기우은식Lyapunov함수적련속시변증익PD공제，공제기증익위계통상태변량적가미함수，수계통상태변량축점추향우령，증익축점추우무궁대，이공제력시종보지재유계범위내。방진결과현시，해혼합공제기능극복부재변화급유성진동영향，실현탄약전수궤계비점도점위치공제급유성진동억제，구유교강적로봉성。
Thepositioningcontrolandelasticvibrationsuppressingofanovel2-DOFammunitiontransfer manipulators were analysed in consideration of joint chain flexibility and payload uncertainty.Regarding the joint and chain's elasticity as a non-inertial spring,a dynamic model of the manipulator was derived via Lagrange method.Based on the singular perturbation method,the model was decomposed into two part,a fast subsystem and a slow subsystem.For the fast subsystem,a velocity difference feedback controller was proposed to suppress the elastic vibration.For the slow subsystem,a PD controller with continuous time-varying gains was designed based on a given implicit Lyapunov function. The controller's gains,which are continuous-differentiable functions of the state,increase and tend to infinity as the system approaches the original state,but the control force always satisfies the given constraint.The simulation results demonstrate that the controller greatly compensates the effects of transmission flexibility and payload uncertainty,fulfills the accurate point to point control of the ammunition transfer manipulator,and is of good robustness.