基于加速度反馈的两杆柔性机械臂振动控制与实验研究

Experimental Research of Vibration Control on Two-Link Flexible Manipulator Based on Acceleration Feedback

针对柔性机械臂在定位运动或外部扰动产生的持续振动,影响定位精度和操作性能的问题.以两杆柔性机械臂实验平台为基础,采用安装在两柔性臂末端的加速度计作为振动信号传感器,以伺服电机作为振动控制驱动器,对柔性臂转动过程中由于电机力矩驱动产生的弹性振动,采用比例控制和非线性控制算法进行振动主动控制,实验结果表明,基于加速度反馈的抑制两杆柔性机械臂振动的稳定性、有效性和实用性.

The positioning accuracy and operational performance of flexible manipulators are greatly affected by the external disturbances.To solve this problem,experimental investigations are presented on active vibration control of a two-link flexible manipulator(TLFM).The experimental setup of TLFM is constructed.Two accelerometers are installed at each flexible link of the TLFM,used as the vibration signal sensors.The servo motor is used as a vibration control driver.The proportional control and nonlinear control algorithm are adopted to suppress the elastic vibration caused by the motor during the rotation.Active vibration control experiments are carried out.The experimental results show that the proposed control algorithm with acceleration feedback can suppress the vibration of the two link flexible manipulator practically stably and effectively.