超长柔性臂架回转振动主动控制研究

Active control of slewing vibration in an ultra-long flexible boom

针对超长柔性臂架回转振动过大问题,结合臂架结构特点基于有限单元法建立臂架回转动力学模型,分析臂架回转系统振动特性。采用模态滤波技术及最优极点配置算法进行主动控制策略设计与理论分析,并搭建主动控制试验系统,进行超长臂架回转振动主动控制试验。试验结果表明,该振动主动控制方法能有效提升受控系统阻尼比(增幅920%),显著抑制臂架回转振动衰减时间(减幅73%),振动控制效果明显,不仅对研制更长臂架泵车具有重要的理论及应用价值,且对所有具有超长柔性机械臂高端装备回转振动控制具有重要参考价值。

In order to address severe slewing vibration in ultra-long flexible booms, the mechanism identification experiment was carried out. The experimental results showed that the damping ratio of the controlled slewing system increases and the slewing vibration of the boom tip obviously decreases, which validates the effectiveness of the proposed method.