双连杆柔性机械臂振动主动控制与实验

Experimental Study on Two-Link Rigid-Flexible Manipulator Vibration Control

为了对柔性机械臂在外部扰动或工作时产生的振动进行快速抑振,设计并搭建出一套刚柔耦合机械臂实验平台,大臂为刚性臂,小臂为柔性臂。首先,采用粘贴在柔性臂根部的压电陶瓷片测得的振动信号作为反馈信号,伺服电机用作驱动器带动减速器驱动机械臂;其次,对柔性臂由于外部激励产生的振动,分别设计了基于输入整形技术(input shaping technology,简称IST)的前馈控制器和基于广义最小方差自校正控制(generalized minimum variance self-tuning controller,简称GMVSTC)的控制算法,对柔性臂振动进行主动控制实验研究;最后,为了验证控制算法的效果,对采用常规比例微分(proportion differentiation,简称PD)控制实验进行对比。实验结果表明,输入整形和自校正控制算法可大幅减少柔性臂振动的时间,均可对柔性臂的振动进行快速抑振。

In order to suppress the vibration of rotating flexible manipulator caused by external disturbance,a rigid-flexible manipulator experimental platform is designed and constructed,with a rigid upper arm and a flexible forearm.Vibration signals are measured by utilizing the piezoelectric ceramic patch pasted at the root surface of the flexible arm,and the manipulator is driven by using an alternating current(AC)serve motor with a reducer.Then,a feed-forward control scheme based on input shaping technology(IST)and a feedback control scheme designed by generalized minimum variance self-tuning controller(GMVSTC)are designed,and the corresponding experiments are conducted.To verify the effectiveness of the control schemes,the capability of the controllers are evaluated in terms of vibration reduction compared with the experimental results under proportion differentiation(PD)control.The experimental results demonstrate that the input shaping and self-tuning controller can largely reduce the vibration time of the flexible arm.Thus,the vibration of the flexible arm can be rapidly suppressed.