柔性机械臂残余振动控制

Residual vibration control for a flexible manipulator

为了对柔性机械臂运动后的残余振动进行控制,对柔性机械臂系统建立了一次近似刚柔耦合动力学模型,并得到了柔性机械臂在非惯性系下的刚柔耦合动力学模型,当柔性机械臂为三角形和梯形运动规律时,针对不同的运动参数对系统振动变形情况进行了仿真。仿真结果表明,当系统的减速时间相对系统一阶振动周期较小时,系统运动停止后残余振动的幅值较大,当系统的减速时间等于系统一阶振动周期时,系统的残余振动得到了很好地抑制。当减速时间不变,系统的残余振动随着匀速转动时间的变化而波动变化,系统的匀速转动时间为系统一阶振动周期的四分之一时,系统残余振动达到局部极小。

In order to control residual vibration for a flexible manipulator after its motion stopping, the first-order approximation rigid-flexible coupled dynamic model was built for the flexible manipulator system and its rigid-flexible coupled dynamic model under a non-inertial coordinates was all derived. During the flexible manipulator having triangular and trapezoidal motion laws, the system vibration deformations were simulated under different motion parameters. The simulation results showed that the system’s residual vibration amplitude after its motion stopping is larger when its decelerating time is smaller than the system’s first order natural vibration period;the system’s residual vibration is well suppressed when its decelerating time is equal to the system’s first order natural vibration period;when its decelerating time is constant, the system’s residual vibration fluctuates with the variation of the time of its rotation with a constant speed;when the time of its rotation with a constant speed is a quarter of the system’s first order natural vibration period, the system’s residual vibration reaches a local minimum.