行星减速器驱动旋转双柔性梁T-S模糊振动控制

T-S Fuzzy Vibration Control of Rotating Double Flexible Beams Driven by Planetary Reducer

旋转双臂的柔性结构在转动调姿时或外部扰动的影响下产生振动,将影响系统的稳定性和定位精度,减速器间隙非线性影响旋转双柔性梁结构的动态特性,加大了控制难度。研究了一种多变量非线性T-S模糊(nonlinear T-S fuzzy,简称NTS)控制算法,利用模糊控制器的多变量解耦控制能力以及T-S模糊规则具有的分段控制特点快速抑制柔性结构小幅值振动。设计并建立了交流伺服电机通过行星减速器驱动转动的双柔性压电梁结构实验平台。利用压电传感器采集振动信号,压电驱动器和交流伺服电机驱动器抑制柔性结构振动,对该控制方法进行实验研究。实验结果表明,相对于比例加微分(proportional and derivative,简称PD)控制算法,非线性T-S模糊控制算法对于系统的大幅值振动和小幅值振动都有较快速的振动抑制效果。

The solar panels on spacecraft and space robots have rotating double flexible beam structures.When they were slewing or affected by external disturbance,the resulting vibration will influence the positioning accuracy and stability of the system.The backlash nonlinearity of the speed reducer will influence the dynamic characteristics of the rotating double flexible beams structure.This will increase the control degree of difficulty.In light of this,a multivariable nonlinear T-S fuzzy(NTS)control algorithm was investigated.The controller use the decoupling design technique and sub-control strategy based on properly designed T-S fuzzy rules.Therefore,the low amplitude vibration near the equilibrium point could be eliminated effectively.The experimental platform of the rotating double flexible beams driven by an alternating current(AC)servo motor with a planetary reduction gear was designed and established.Piezoelectric sensors were used to acquire the vibration signal of double flexible beams.Piezoelectric actuators and an AC servo motor were used to attenuate the vibrations.The experimental results demonstrate that the investigated NTS algorithm shows good performance in suppressing both the large amplitude and lower amplitude vibrations of the system,as compared with a proportional and derivative(PD)controller.