机械臂的自动控制系统.ppt

机械臂的自动控制系统
Arrangement：
M1: Build this system in Simulinkwith D/A and A/D converters
M2: Design a state‐feedback co Non singular,
，The relative order of the
system is 2.
3) Coordinate transformation
4) System is converted into standard type:
The output
5) State feedback matrix, ,The system become a completely controllable linear system
feedback control
The constitution of the state feedback
state feedback
u=- Kx+ v
State description of close‐loopsystem
=(A-BK)x+Bv
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Solution:
Because the system can be control completely, so all its poles can be arbitrary configuration.
 a observer (full‐order or reduced‐order)
The flexible mechanical arm vibration force analysis
The observer design and analysis
To the automatic control system accurately, it is necessary to get the accurate values of all status system. However, with the increase of system complexity, rely on the state of sensors to measure information will increase the complexity of hardware, may even lead to system instability. And some state information be restricted conditions, through physical measurement. At this point, the state observer provides a new train of thought: if the analytical model of controlled object is known, can through the design of state observer, then based on the system of external variables (input and output variables) of the actual measured values, the estimate of state variables.
The observer design of flexible manipulator, the first to design an auxiliary system, for the flexible manipulator system status, refactoring :
m1,m2,n1,n2,n3,n4 is for the design of real Numbers 。
For type, based on the idea of sliding mode observer and Luenberger observer, construct the following observer :
The calculation of observer:
SOLUTION:
output feedback controller
Integrated design of the control action u usually depends on the actual response of the system, and that is to s