基于电流变液的机械臂控制系统设计与仿真

摘要

电流变液作为可变粘性阻尼器可实现系统的抑振控制,对基于电流变液的单一自由度机械臂进行半闭环控制系统研究,机械臂系统包括:驱动电机,谐波传动,执行机构和电流变阻尼器.并通过极点配置的方法计算阻尼系统和控制系统参数.通过Matlab平台进行仿真计算可以看出:电流变液作为可变阻尼可明显的抑制共振/反共振的现象.并将这种新型控制系统与传统PD控制系统进行对比分析,可以看出电流变液作为可变粘性阻尼器对抑制干扰和振动起到重要的作用.%Using ER as variable viscous dampers is important for In-orbit maintenance tool control systenuThe control system in this research concludes:drive motor,harmonic drive,the implementing agency and the ER damper.Increasing the variable ER damper can significantly inhibit the resonancelanti-resornnance phenomenon,Ei fluids semi-closed loop control system is designed in this research.The control system parameters are calculated by pole placement method.Compared with the traditional control system,ER as viscous dampers is better able to suppression interference and vibration.