Scholarlink

<p>In fields such as on-orbit maintenance robotic arms and electric driving systems, the two-inertia rotating system with flexible structure (TIRS-FS) has received increasing attention due to its lightweight and flexibility. Flexible structures are prone to elastic deformation during motion, which poses a significant challenge to the dynamic modeling and high-precision control of the TIRS-FS. This paper presents a comparative analysis of three simplified TIRS-FS dynamics models. Based on the more accurate dynamics model obtained, the fuzzy compensated sliding mode control method is proposed to achieve accurate control of the TIRS-FS. Firstly, the TIRS-FS is discretized using the assumed modal method. Then, using the Lagrange equation, the dynamical equations considering the two-dimensional (2D) deformation of the flexible structure and the joint-driven friction are established. Additionally, fuzzy rules are utilized to approximate and compensate for the uncertainty terms present in the TIRS-FS dynamical equations. These fuzzy systems are then combined into a control law. Finally, through simulation analysis and control experiments, it is demonstrated that the proposed control method can effectively achieve accurate control of the TIRS-FS.</p>

错误：搜索内容不能为空，请输入英文关键词
错误：关键词超出字数限制，请精简
高级检索

Dynamic modeling and fuzzy compensation sliding mode control for two-inertia rotation system with flexible structure

  • 期刊论文

  • 发表日期：

    2025年1月8日

查看全文
  • Jiaqi Liu,
  • Xiaopeng Li,
  • Meng Yin,
  • Sainan Zhou

摘要

In fields such as on-orbit maintenance robotic arms and electric driving systems, the two-inertia rotating system with flexible structure (TIRS-FS) has received increasing attention due to its lightweight and flexibility. Flexible structures are prone to elastic deformation during motion, which poses a significant challenge to the dynamic modeling and high-precision control of the TIRS-FS. This paper presents a comparative analysis of three simplified TIRS-FS dynamics models. Based on the more accurate dynamics model obtained, the fuzzy compensated sliding mode control method is proposed to achieve accurate control of the TIRS-FS. Firstly, the TIRS-FS is discretized using the assumed modal method. Then, using the Lagrange equation, the dynamical equations considering the two-dimensional (2D) deformation of the flexible structure and the joint-driven friction are established. Additionally, fuzzy rules are utilized to approximate and compensate for the uncertainty terms present in the TIRS-FS dynamical equations. These fuzzy systems are then combined into a control law. Finally, through simulation analysis and control experiments, it is demonstrated that the proposed control method can effectively achieve accurate control of the TIRS-FS.