基于复合喷气压电驱动器的柔性机械臂振动控制

Vibration Control for Flexible Manipulator Based on the Combining of Jet Thruster and Piezoelectric Actuators

空间机器人和大型柔性空间结构在航天器调姿、变轨、外部扰动的情况下将引起振动问题,其低频大幅值振动将持续很长时间,这将影响航天器系统的稳定性和控制精度。为了快速抑制低频大幅值振动及残余振动,提出采用复合可控反作用力幅值的喷气式驱动和压电陶瓷驱动方案进行振动控制。进行基于复合控制的柔性臂系统动力学建模并给出控制算法。设计并建立柔性机械臂试验平台,构建气动驱动控制回路及压电驱动控制回路。进行基于压电陶瓷驱动器、喷气式驱动器及复合喷气和压电驱动器的柔性臂大幅值低频模态振动控制的几种方法试验比较研究。试验结果表明,采用的控制方案和方法既可以快速地抑制柔性机械臂统的低频大幅值振动,又明显地同时抑制高频和低频小幅值残余振动。

The vibration problem of space robot and large flexible spacecrafts＇ structures will be caused due to attitude or oribit maneuvering, and external disturbance. The low frequency large amplitude vibration will last for a long time, which will affect the stability and control accuracy of the spacecraft system. To suppress the low frequency large amplitude vibration and residual vibration quickly, the combined method of controlled force jet thrusters actuating and piezoelectric driving for vibration control i s proposed. Dynamics modeling of the combining controlled flexible manipulator system is accomplished, and the control algorithms are provided. The combining controlled flexible manipulator experimental setup is designed and erected, and the pneumatic control circuit and piezoelectric control circuit are built up. Several control methods are presented to develop the experimental comparison researches for attenuating the large amplitude low frequency modal vibration of the flexible manipulator, including pie zoelectric lead zirconate titanate （PZT） as actuator, controlled force air-jet thrusters as actuators and the combining of PZT and controlled force jet thrusters＇ actuators. The experimental results demonstrate that the adopted combining methods can not only suppress the large amplitude low frequency vibration of the flexible manipulator system quickly, but also significantly eliminate both the low and high frequency small amplitude residual vibration simultaneously.