摘要
针对柔性机械臂在运动结束后的残余振动问题,提出一种减振控制系统的研究方法和实验平台的搭建。根据欧拉—伯努利梁理论,利用拉格朗日方程建立柔性机械臂的数学模型,基于LabVIEW和NI板卡搭建柔性机械臂减振控制系统实验平台。将机械臂的运动分解为加速、匀速和减速的三段式运动,结合柔性臂的振动固有周期,提出了配置梯形速度曲线的电机控制方法,并以镀锌薄钢板为研究对象进行了实验研究。结果证明,该柔性机械臂减振控制实验平台搭建准确、有效,合理地利用柔性臂的一阶振动周期,可以大幅减少系统残余振动的抑制量。
Aiming at the vibration problem of flexible manipulator in motion, a method of vibration reduction control was proposed. According to the Euler Bernoulli beam theory, the mathematical model of the flexible manipulator was established. Based on LabVIEW and Ni board card, the experimental platform of the vibration control system of the flexible manipulator was built. The motion of the manipulator is divided into three parts: acceleration, uniform speed and deceleration. Combined with the vibration natural period of the flexible arm, the control method of the motion, which can realize the curve of trapezoidal velocity was proposed, and the galvanized steel sheet was taken as the research object. The results show that the flexible manipulator vibration control experimental platform is accurate and effective, and reasonable use of the natural period of the flexible arm can greatly reduce the residual vibration of the system.
作者
李永超
任豪
夏瑞强
Li Yongchao;Ren Hao;Xia Ruiqiang(School of Engineering Machinery,Chang′an University,Xi′an 710064,China;Key Laboratory of Expressway Construction Machinery of Shaanxi Province,Chang′an University,Xi′an 710064,China)
出处
《机电工程技术》
2021年第1期46-48,173,共4页
Mechanical & Electrical Engineering Technology
