压电柔性机械臂的主动振动控制研究

ACTIVE VIBRATION CONTROL FOR FLEXIBLE PIEZOELECTRIC MANIPULATOR

  • 摘要: 针对柔性机械臂的振动问题,采用压电智能结构作为敏感器和驱动器进行主动控制.首先建立柔性机械臂的实验装置,其次对设计的柔性机械臂系统进行辨识研究,得到系统的前二阶模态频率,再次采用PD控制和PPF控制算法对柔性机械臂进行主动振动控制.实验结果表明,采用压电智能结构可以抑制柔性机械臂的振动,效果明显.

     

    Abstract: This paper uses piezoelectric ceramics as actuators and sensors to suppress the vibration of flexible manipulator. Firstly,the experimental setup of the flexible manipulator is built. Secondly,from the identification of the system, the modal frequency of the system is obtained. Thirdly,experiment on active vibration control is carried out by using PD control method and PPF (Positive Position Feedback) control method. The experimental results prove that the method is effective in vibration suppression of flexible manipulator.

     

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