农业机械悬臂梁振动控制试验研究

Research of a Cantilever Beam Vibration Control in Agricultural Machinery

以蓝莓采摘机悬臂梁结构为研究对象,考虑外界不确定性激励作用下悬臂梁的振动特性,建立了悬臂梁的振动数学模型,利用滑移模态控制理论(变结构控制)提出了新的滑移模态控制算法。通过选择合适的滑移面和切换函数,基于Matlab/Simulink仿真模型以及d SPACE实时仿真系统对悬臂梁进行振动控制。试验仿真结果表明,设计的滑移模态控制器能有效地抑制悬臂梁的振动。

The cantilever beam of the blueberry picking machine is researched in this paper. The vibration characteristics of the beam is ana- lyzed with considering the uncertainty from outside action. The mathematics model of the vibration is founded. A new sliding mode control al- gorithm is presented by use＇of the theory of sliding mode control （ variable structure control）. Firstly selection of appropriate sliding mode plane and the switch function is introduced, and then the vibration of the beam is regulated based on the Matlab/Simulink simulation model and dSPACE real-time simulation system. The experimental results prove that the designed sliding mode controller suppresses the beam＇s vi- bration well.