Corresponding author: Krasnoshchechenko Vladimir I., Ph. D., Senior Lecturer, Kaluga Branch of the Bauman Moscow State Technical University, Kaluga, 248600, Russian Federation, e-mail: kviip@yandex.ru

Received on March 14, 2017
Accepted on April 07, 2017

The topic of the article is the problem of control of the motion of a flexible single-link manipulator from one state of rest into another in a given time. Having a number of advantages in comparison with the absolutely rigid parts of the manipulators, the flexible manipulators are more difficult in control because of a higher order of the system and non minimun phase dynamics, which exist between the tip position and the input torque applied at the joint of the actuator. During the synthesis of the control system various approaches are used: 1) formation of the necessary input signals; 2) synthesis of a regulator with the use of the inverse dynamics; 3) the algorithms, which ensure reduction of the level of the resonant frequencies of the flexible manipulator due to regulation of the coupling torque of a link at the base of the beam 4) H control. In the control loop not less than two sensors and one or two regulators related to the high order were established. The given work proposes to generate the input signal of a special kind with a low-frequency spectrum, ensuring practical absence of vibrations of the tip, smoothness and accuracy of the link motion in all the range of the payloads at the tip. Furthermore, a simple regulator of the first order with a signal of a feedback only on the angle hub of the actuator is synthesized. The offered control algorithm was tested on a concrete example for the flexible single-link manipulator with the following characteristics: length — 1m; width — 0,0055 m; height — 0,05 m; material — aluminum; range of the angular turns — [9, 180] degrees; range of the mass payloads — [0, 0,5] kg; time of motion — [1,8, 3] seconds; overshoot — not more than 10 %. Analysis of the frequency and dynamic characteristics of the flexible manipulator was carried out. Then in the mathematical model of the manipulator the first two flexible forms were left. The input for the manipulator was the hub torque. The results of modeling for various angle turns and payloads of the tip confirm the efficiency of the offered control algorithm.
Keywords: flexible manipulator, regulator, synthesis, robust control, assumed modes method