空间刚柔性机械臂振动的精细控制

本文在双连杆空间柔性机械臂系统非线性动力学方程的基础上，运用线性二次型（LQ）最优控制方法讨论了机械臂消除残余振动的控制问题。本文重点在于系统计算过程中，放弃了传统的差分类算法，对时变控制系统，引入时程精细积分方法，由于精细积分方法在有限的时间步长内又进行了更精细的划分，同时避免了差分法的许多计算障碍，使得该计算方法具有计算精度高及数值计算无条件稳定等特点。文中针对双连杆空间柔性机械臂系统这一典型结构，给出了其精细控制律，以说明精细积分法的优越性。

Precise Control of Vibration for Rigid-flexible Mechanical Arm

Based on the nonlinear dynamic equation of spacial flexible mechanical arm with duallink bar, the method of linear quadratic optimal control is used to eliminate the remain vibration of mechanical arm. The key of this paper is that the traditional differencing algorithm is abandoned and the time precise integration method is introduced for the time-variable system in the computation process. Because of taking the more precise time-intervals in the given time-interval and avoiding a lot of computational difficulties of differencing algorithm, the computation method of this paper has the characteristics of high precision and unconditional stable. In accordance with the typical structure, the precise control law is obtained and the advantages of precise integration method are illustrated.