,,

412007
:,
,

:;;;

:
TP241.
3DOI:
10.
3969/
i
s
sn.
1004-132X.
2012.
16.
012
j.
Tr
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c
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ann
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412007
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t
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, ,

PID
[4]

[
1

2]

[
3]

,
,
,
,

,(),
,

[
5]

,
,

, [67]
[
8]
:
20110523

1,p1
Ae
q1 ,
p2
q2 ;
;
pL
qL

1
,
pL =p1 -p2 ,
qL = (
q1 +q2);
ps
pr
2
(
pr =0);

m1
m2 ;
k
b2
;
xp
xl
;
iv

[9]:

m2xl =b2 (
xp -xl)+k(
xp -xl)

(
1)

1943

 23 16 2012 8

xpdf -Y2 )
2 (
xpdf -Y2 )
3
Y2t+3(
tt2
2

4
43

xpd(
t)= Y2
Y3
i
nt+ (
1-c
o
s
t)t
2s
2

t >
xpdf
2

(
9)

m1xp +b1xp = pLAe -b2 (

xp -xl)-k(
xp -xl)(
2)

Vt
pL = -Aexp -CtmpL +qL
4
e

qL = kqxv

xv)
ps -sgn(
pL

xv = Kviv

(
4)
(
5)

;
Ctm
e ;

;
kq ;
xv
;
Kv ;
sgn()

iv, xpd
xpdf,

2
2

xl +2
nxl +nxl =2
nxp +nxp

(
6)

n = k/m2 ,
2 m2k)
=b2/(

[10],
xpd =

Y3t Y3 (
1-c
o
s
t)+b0 +b1t+b2t2 +b3t3 (
7)
+
2
2

;
Y1
Y2
Y3

,xpd(
)=xpdf; =

2/
,:
xpd(
0)=0

Y1 +Y2 +Y3= xpdf

xpd(
)= 0

(
)

xpdf -Y2
b0 =0,
b1 = 2

(
3(
xpdf -Y2 )
2 ,
xpdf -Y2 )
3
b2 =
b3 =
2
3
4
4

(
7),

1944

t >

(
10)

(
9) (
10) (
6), xpd(
t)

x (
t),

pd

C1s
i
ndt+C2c
o
sdt)+A +
e n (
Bt+Ct2 + Dt3 +Es
i
nt+Fc
o
s
t t
xl(
t)= - (t-)
C3s
i
nd(
t-)+
e n [

t-)]+xpdf
t >
C4cosd(
- t

A=

Y3 - (
xpdf -Y2 )(
3nR +6
)
233
n
2

B=
C=

3
n

(
8)

(
11)

2
3(
xpdf -Y2 )
3 +Y22n
3 2
2 n

3(
xpdf -Y2 )
2 ,
xpdf -Y2 )
3
-(
D=
42
4
3

2
2
2
Y2 [
n (
wn -2 )+ (
2
2
n3 )
n)]+Y3 (

E= 2
2 2
2
[
(
)
(
)
]
2 n -
n
+ 2

F=

2
2
2
]
Y2 (
2
n3 )-Y3 [
n(
n -2 )+ (
2
n)

2
2 2
2
[
(
)
(
)
]
2 n -
+ 2
n

nC2 -B -ER ,
C1 =
C2 = -A -F
d

C3 = C1e n cos
d-C2e n s
i
nd-
-

n
-
n
-
C4 = C1e s
i
nd+C2e c
o
s
d+

3(
xpdf -Y2 )
2
A +F +

2
2n

3(
xpdf -Y2 )
2
C1 + 2
wnwd

Y1t Y2 (
t-s
i
nt)+
+
2
2

xpd(
0)=0 xpd(
)= xpdf

xpd(
t)= Y2
Y3
i
ntt
2cost+ 2s

(
3)

,
b1 ;
Vt

(
1):

3(
xpdf -Y2 )
3 2
xpdf -Y2 )
2
Y2 +3(
tt2
3
2

(
12)

,d = 1-2n;
C1
C2
A
B
C3
C4 t >
, xl(
)
xl(
)

(
12) , Y1
Y2
Y3

, C3 =0,
C4 =0
xpd =xpdf ,xl
C3 =0,
C4 =0
Y1 = xpdf -

HK + MG + HJ +GI

IK -JM

HK + MG
Y2 =
IK -JM
HJ +GI
Y3 =
IK -JM

G = xpdfn(
a -33a2 )
h-xpdf(
dad

(
13)


2
na-3n3a2 +62
n a
2)

3
H = xpdfn(
a -3 a2 )
d

, PID ,

xpdf(
da
h -da+6n2da2 )

I = wd(
a+b)(
h-1)+ [
a+b)-c n(
3n3a2 ]
d+6n2da2

J= (
a+b)(
dd +n)- [
n(
a+b)-c
2 2
3n3a2 ]
h-c -3n3a2 -6
n a2

[
11] ,
,
3

K =c
dd - [
n22 (
n +2 )]
h+

4
2
n22 (
n +2 )

4
2
M =c
d(
h-1)+
n22 (
n +2 )
d

2
2
2
3
a = [(
wn -R2 )
2
3wnR2 +6
+(
Rwn)](
R )
2
2
2
a2 = (
n -2 )
2
n)
+(

b =2
c= (
- )

,
2

4 3
n

s
i
nd,
h =e

-n

d =e

2
n

2 2

3
n

c
o
s
d

-n

22a
Y1
Y2
Y3

(
Y1 =0
3
Y2 =0
3
Y3 =0
4);
2bY1
Y2
Y3 (
13)

e
e
c E EC ,
U E

EC
, , 49
E EC

,,

[
11]
1
4Aee, 4Ctme, 4
kq e
,
=
=
=
Vt
Vt
Vt
1

m1(
kg) m2(
kg)

(
a)

b1
b2
k(
N/m)
(
N/(ms-1)(
N/(ms-1))

20
24
310
Pa) (
Ae(m2) ps(
N/m3)
3.
2673 5
1.
51
10-4

107

1010

10
1/s)
(

100

1.
0

108

, 2
=1
69s

, 4 xpdf
, m2 ,
,

(
b)

,
,

5 ,
, m2
,
2b
,,
,

1945

 23 16 2012 8

,
,,

,
(
a)

,
:
[
1] Yi
i
t A S.Ont
heS
t
ab
i
l
i
t
fPD Con
t
r
o
lf
o
ra
g
yo

Two-l
i
nk Ri
i
d -f
l
ex
i
b
l
e Man
i
l
a
t
o
r[
J].J.
g
pu

Dyn.Sy
s
t.Me
a
s.Con
t
r
o
l,
1994,
116:
208

215.

[
2] ,, . PID

[
J]. ,

2008,
19(
15):
1836

1841.

[
3]Chen Xi
nka
i,
SuChuny
i,
FukudaT.Robus
tVi
b
r
a

(
b)

t
i
on Con
t
r
o
lf
o
rF
l
ex
i
b
l
e Arm Us
i
ngt
he S
l
i
d
i
ng
ModeMe
t
hod[
J].
As
i
anJ
ou
r
na
lo
fCon
t
r
o
l,
2003,
5

(
4):
594

604.

[
, .
4] ,
[
,
J].
2
0
0
1,
2
0(
2):
1
7
2

1
7
4.

[
5]At
aA A.
I
nve
r
s
eDynami
cAna
l
s
i
sandTr
a
e
c
t
o
r
y
j
y

P
l
ann
i
ng f
o
rF
l
ex
i
b
l
e Man
i
l
a
t
o
r[
J].I
nve
r
s
e
pu

Pr
ob
l
emsi
nSc
i
enc
eandEng
i
ne
e
r
i
ng,
2010,
18(
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549

566.

[
6]GeSS,
Le
eT H,
ZhuG.A New Lump
i
ng Me
t
hod

//Pr
o
faF
l
ex
i
b
l
e Man
i
l
a
t
o
r[
C]
o
c
e
ed
i
ngso
ft
he
pu

(
a)

Ame
r
i
c
anCon
t
r
o
lCon
f
e
r
enc
e.Al
buque
r
1997:
que,

1801

1892.

[
7] , , , .

- [
J]. ,

2001,
23(
7):
691

694.

[
8] L
i
u Y,Hand
r
oo
s H.S
l
i
d
i
ng Mode Con
t
r
o
lf
o
ra

Cl
a
s
so
f Hyd
r
au
l
i
cPo
s
i
t
i
onSe
r
vo[
J].Me
cha
t
r
on

i
c
s,
1999,
9:
111

123.

[
9]Al
l
eyne A,
L
i
u R.A S
imp
l
i
f
i
ed App
r
oa
cht
oFo
r
c
e

Con
t
r
o
lf
o
rEl
e
c
t
r
o-Hyd
r
au
l
i
cSy
s
t
em[
J].
Con
t
r
o
l
Eng
i
ne
e
r
i
ngPr
a
c
t
i
c
e,
2000,
8:
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1356.

(
b)

,
,

0 ,
1946

[
10] . [M]. :
,
2005.

[
11] . PID MATLAB [M]. :
,
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( )

: ,,
1963

20 ,,
1987