弹性连杆机构残余振动主动控制的研究

Active Residual Vibration Control for Flexible Linkage Mechanisms

采用压电陶瓷作为作动器，应变片作为传感器，基于修正的独立模态空间控制理论，对弹性连杆机构残余振动的控制进行了研究。本文首先建立了由作动器和机构原始单元组成的智能单元、传感器和被控系统的数学模型，根据被控系统的特点设计了具有良好稳定性的控制器。给出了智能单元控制电压的计算方法。

An analytical study on controlling the residual vibration of flexible linkage mechanism systems is presented in this paper.The system are equipped with several smart elements consisting of the original finite elements of the system and the bonded piezoceramic actuators.In this study,the strain gauges are used as sensors.The mathematical models of both actuators and sensors are developed.The control low is formulated based on the modified independent modal control method and the Linear Quadratic Theory.Finally,with the control scheme,simulations for the vibration control of a path generating linkage mechanism are carried out.The results show that the residual vibrations of the flexible system have been greatly suppressed.