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《Intelligent Computer and Applications》 2019-04
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Research on decoupling control of mechanical structure of flexible joint based on damping attenuation

YAN Jichao;Huali College,Guangdong University of Technology;  
In order to improve that mechanical distribution and the automatic control ability of the flexible joint mechanical structure,a flexible joint mechanical structure decoupling control method based on the damping attenuation is proposed,and a mechanical distribution model of the flexible joint mechanical structure is constructed,the mechanical parameter distribution and the error correction of the mechanical mechanism damping unit and the spring unit are carried out by adopting a linear decoupling method to adjust the joint stable position of the flexible joint mechanical structure. In that design of the decoupling control lawof the flexible joint mechanical structure under the damping attenuation,the dynamic stable domain is the reliability control price constraint condition of the flexible joint mechanical structure,the global optimal solution is obtained,and the decoupling control optimization of the flexible joint mechanical structure is realized. The simulation results showthat the stability of the flexible joint mechanical structure decoupling control is high,the self-adaptive performance is good,and the mechanical automatic distribution capability of the flexible joint mechanical structure is improved.
【CateGory Index】: TP241
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