压电柔性臂动力学模型修正研究

Research on Dynamics Model Modification of Piezoelectric Flexible Manipulator

建立准确的动力学模型是研究压电柔性臂动力学行为和控制方法的基础和理论依据。传统的动力学建模忽略了柔性臂的结构变化、关节摩擦、结构阻尼和导线因素等的影响。以双连杆柔性臂为研究对象,将双杆柔性臂视为Euler-Bernoulli梁处理,采用假设模态法描述臂的弹性变形,利用拉格朗日方程建立双杆柔性臂动力学模型。对系统模型进行了刚度与阻尼方面的适当修正,并结合MATLAB软件对修正后的模型特性进行分析。实验与仿真结果比较得出:修正后系统的转角曲线线性度更好,并且修正后模型与真实模型的弹性振动变化形式吻合度更高,即系统模型的弹性修正是有效的。

To establish accurate dynamic model is the foundation and theoretical basis for the research of piezoelectric flexible manipulator dynamics behavior and control method.In the traditional dynamics modeling,the impacts of structural changes,joint friction,structural damping and wire factors were ignored.By taking two-link flexible manipulator as the research object,two-link flexible manipulator was regarded as Euler-Bernoulli beam processing.Assumed-mode method was employed to describe the elastic deformation of flexible manipulator,and Lagrange equation was used to set up its dynamics model.The stiffness and damping of the system model were modified appropriately,and the characteristics of modified model were analyzed by using jointly with MATLAB software.The comparison of simulation results and experiments shows that the linearity of angular curve after system modification is better.The elastic vibration change in form is highly coincident between modified model and the true model,namely the model elastic modification of the system is effective.