中文摘要：

针对移动柔性机械臂的振动抑制问题,提出了一种基于有杆气缸驱动的控制方案.该方案采用脉冲码调制方法控制气缸活塞杆的运动,从而抑制柔性臂的振动.文中构建了气动系统回路,推导了气动驱动控制柔性臂的系统模型,并基于控制算法的闭环方程分析了该方法在实现滑块定位的同时实现抑制振动的可行性.最后,建立了基于气动驱动的移动柔性臂实验系统,并进行了主动振动控制实验.结果表明,所提出的气动驱动控制方案可以有效地抑制柔性臂的低频模态振动,同时实现气动定位.

英文摘要：

In order to effectively suppress the vibration of flexible translating manipulators,a rod cylinder-based pneumatic driving scheme is proposed,which suppress the vibration by controlling the motion of piston rod via the pulse code modulation（PCM） method.Then,the pneumatic circuit is constructed,and the system model of the flexible manipulator with pneumatic driving is established.Moreover,based on the closed-loop equation analysis of the control algorithm,the feasibility of simultaneous slide positioning and vibration suppression is analyzed.Finally,an experimental setup of the flexible translating manipulator with pneumatic driving is proposed and is used to perform an active vibration control experiment.The results demonstrate that the proposed scheme effectively suppresses the low-frequency mode vibration of flexible manipulators and implements the pneumatic positioning simultaneously.