Abstract
The flexible manipulator servo system considering the second-order modal and two-dimensional deformation is too complicated, which is not conducive to real-time control. In order to establish dynamic equations that can be controlled in real-time, it is necessary to analyze each nonlinear factor. Based on the results of dynamic analysis, a model simplification method is proposed that ignores the second-order modal deformation. What's more, an improved fuzzy compensation sliding mode control (FCSMC) strategy is proposed to control the angular velocity of the servo system. The friction torque and the ignoring nonlinear factors are compensated by the fuzzy systems. The improved FCSMC strategy can reduce the chattering phenomenon and the angular velocity errors. Simulation experiments and physical control experiments prove the effectiveness of the improved FCSMC strategy. The results show that the improved FCSMC strategy has smaller angular velocity errors. Therefore, the strategy can effectively improve the movement accuracy of flexible manipulators, which is conducive to the precise end-effectors.
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