Major subject of the thesis is an application of concurrent design in flexible manipulator system design, and mechatronic design and control are carried out. A single-link flexible manipulator system is studied as the object investigated. The dynamic modeling, mode reduction, concurrent design based on different strategies, and digital simulations are presented. Owing to the theoretical similarities, concurrent design and Concurrent Engineering(CE), Multidisciplinary Design Optimization(MDO), Structure and Control Integrated Design(CSID), are firstly discussed simultaneously, together with their different and common points. Introducing concurrent design into design of flexible manipulator system, means to synthesize and integrally optimize the whole system including driving mechanism, flexible manipulator, sensors and controller, from the viewpoint of general design. A specific application frame of concurrent design and optimization is set up. Since the optimized flexible manipulator beam after concurrent design may be non-uniform cross-section beam, finite difference method and finite element method are adopted for dynamic modeling the system which contains the flexible manipulator, sensors and driver. To solve the problem of how to define the truncation numbers of system modal while using modal truncation method in model simplification, an energy criterion method based on energy norm is adopted in flexible manipulator system model simplification. The physical meaning is taking the proximity degree of energy between simplified models, which contains different main modals, and full-order model as a criterion of model truncation. Comparisons between this method and the method based on state space balanced realization show its advantages. Two concurrent design schemes on flexible manipulator system are put forward. which adopt different control strategies. One is based on PID controller. First an integral mathematical model of flexible manipulator system is established. Then the dynamic performance index of the system is transformed into optimization objective function, which includes structural, sensor and PID controller parameters. Improved genetic algorithm is used for global parameter optimization and then the optimized manipulator structure (rigidity distribution) and controller parameters are generated. Numerical simulations show that the combination of optimized PID controller and structural optimized flexible manipulator can suppress the tip flexible vibration in some degree. But the robustness of the system needs to be improved. In order to improve system's robustness, a scheme based on H∞ robust controller is presented. According to energy criterion, modal reduction is carried out towards the finite element model of single-link flexible manipulator system. The robust controller is based on the simplified model, considering non-modeling dynamics and some
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