Scholarlink

<p>To more accurately characterize the deformation behavior of flexible links during rotation, the two-dimensional (2D) deformation and friction torque are considered at the same time. The mechanical model of the single flexible link servo system (SFLSM) exists in many coupled nonlinear terms (CNTs) when considering longitudinal and lateral deformation. These CNTs and friction torque will cause the flexible link rotation angle to fluctuate, which decreases the control accuracy of flexible links. In this study, a fuzzy compensation sliding mode control strategy (FCSMC) is designed to drive the SFLSM to improve motion accuracy. Firstly, the mechanical model of SFLSM is derived based on the assumed mode method (AMM). Then the control law of the SFLSM is designed according to stability theorems. Among them, the fuzzy system identifies and compensates uncertain parts which are made up of friction torque and CNTs. Finally, simulation and prototype experiments verify that the FCSMC strategy can obviously decrease the rotation angle errors.</p>

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Dynamic modeling and rotation angle control strategy for single flexible link servo system considering nonlinear deformation and LuGre friction

  • 期刊论文

  • 发表日期：

    2025年1月15日

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  • Dongyang Shang,
  • Xiaopeng Li,
  • Meng Yin,
  • Sainan Zhou

摘要

To more accurately characterize the deformation behavior of flexible links during rotation, the two-dimensional (2D) deformation and friction torque are considered at the same time. The mechanical model of the single flexible link servo system (SFLSM) exists in many coupled nonlinear terms (CNTs) when considering longitudinal and lateral deformation. These CNTs and friction torque will cause the flexible link rotation angle to fluctuate, which decreases the control accuracy of flexible links. In this study, a fuzzy compensation sliding mode control strategy (FCSMC) is designed to drive the SFLSM to improve motion accuracy. Firstly, the mechanical model of SFLSM is derived based on the assumed mode method (AMM). Then the control law of the SFLSM is designed according to stability theorems. Among them, the fuzzy system identifies and compensates uncertain parts which are made up of friction torque and CNTs. Finally, simulation and prototype experiments verify that the FCSMC strategy can obviously decrease the rotation angle errors.