机械臂的自动控制系统.pptVIP

And: The?system in the?neighborhood?of a?in x, On the output for , 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 2.State feedback control The constitution of the state feedback  state feedback u=- Kx+ v State description?of?close‐loopsystem =(A-BK)x+Bv ? ? ? Solution: Because the system can be control completely, so all its poles can be arbitrary configuration. 3.Design?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: 4.The output feedback controller Integrated design of the control action u usually depends on the actual response of the system, and that is to say, u can be expressed as th