Modeling and Combined Vibration Control of Flexible Manipulators with Controllable Damping

谢冰冰; 牛军川; 夏俭俭

doi:10.13433/j.cnki.1003-8728.20230235

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Modeling and Combined Vibration Control of Flexible Manipulators with Controllable Damping

更新时间：2026-04-23

- Modeling and Combined Vibration Control of Flexible Manipulators with Controllable Damping
- Mechanical Science and Technology for Aerospace Engineering Vol. 44, Issue 5, Pages: 745-750(2025)
- 作者机构：
  
  1. 山东大学机械工程学院,济南,250061
  2. 山东大学高效洁净机械制造教育部重点实验室机构,济南,250061
- 作者简介：
- 基金信息：
- DOI：10.13433/j.cnki.1003-8728.20230235
  CLC：
- Published：2025
- 稿件说明：
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谢冰冰, 牛军川, 夏俭俭. Modeling and Combined Vibration Control of Flexible Manipulators with Controllable Damping[J]. Mechanical Science and Technology for Aerospace Engineering, 2025, 44(5): 745-750.
DOI：

谢冰冰, 牛军川, 夏俭俭. Modeling and Combined Vibration Control of Flexible Manipulators with Controllable Damping[J]. Mechanical Science and Technology for Aerospace Engineering, 2025, 44(5): 745-750. DOI： 10.13433/j.cnki.1003-8728.20230235.

摘要

针对搬运机器人这种长连杆结构的柔性机械臂系统，为了优化残余振动的问题，设计了ZV输入整形器与最优控制结合的振动抑制方法，并对最优控制器中的加权参数Q进行模糊控制；为了降低响应到达稳态的时间，提高柔性臂运动的精确性，引入磁流变（Magneto rheological，MR）阻尼器使得柔性臂阻尼可控，实现了可控阻尼与关节力矩联合控制柔性臂系统。仿真结果表明：所设计的混合控制策略可以有效降低残余振动的超调量，进一步加入阻尼器后，可有效降低柔性臂系统到达稳态的时间。

Abstract

A vibration suppression method combining ZV input shaper and optimal control was designed for the flexible manipulator like a long link of a handling robot to optimize residual vibration. Fuzzy control was applied to the weighted parameter Q in the optimal controller. In order to reduce the time to reach steady state and improve the accuracy of the flexible manipulator motion

a magneto rheological (MR) damper is introduced to make the damping of the flexible manipulator controllable

achieving a combined control of controllable damping and joint torque in the flexible manipulator system. The simulation results show that the designed combined control strategy can effectively reduce the overshoot of residual vibration

and further adding dampers can effectively reduce the time for the flexible manipulator system to reach steady state.

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