基于重复控制的旋转运动柔性臂建模和实验研究 Modeling and Experiment of a Rotary Flexible Arm Based on Repetitive Controllers

为了研究重复控制对于旋转运动柔性臂控制精度的影响，本文建立了一个旋转运动柔性臂的动力学数值模型，并且特别考虑了齿轮传动机构对系统的影响。通过对动力学模型的仿真结果发现:齿轮传动机构的非线性是旋转运动柔性臂跟踪连续的周期信号时产生振动的原因。基于这一结论，一个基于重复控制补偿算法的PID控制器被用在Quanser公司的Rotary Flexible Link中去跟随给定运动状态。仿真结果和实验结果验证了重复控制可以提高旋转运动柔性臂的跟踪精度。 In this paper, to study the effect of the repetitive control on the control accuracy of a rotary flexible arm, the dynamic numerical model of a rotary flexible arm is established, and especially the effect of the gear drive to this system is considered. From simulation results of dynamic model, we find that the nonlinear of the gear drive causes the vibration of the rotary flexible arm when tracking periodic continuous signal is found. Based on the conclusion, a PID controller based on repetitive control compensation algorithm is applied to implement the Quanser’s Rotary Flexible Link to follow a given motion signal. The simulation and experimental results validate the repetitive control will enhance the tracking accuracy of the rotary flexible link.