压电柔性机械臂系统辨识与振动主动控制

Experimental Identification and Active Vibration Controlof Piezoelectric Flexible Manipulator

以Euler⁃Bernoulli悬臂梁为实验模型,研究了压电柔性机械臂系统的模型建立和振动主动控制的问题。首先,针对柔性构件在建模过程中的复杂性和非线性等特点,采用实验辨识的方法建立了由压电致动器输入到压电传感桥路的输出之间的传递函数模型;其次,对于压电柔性机械臂的弹性振动问题,基于线性二次型最优控制理论,针对加权矩阵难以解析的关键问题,将遗传算法应用于控制器的设计中,对加权矩阵进行优化设计;然后,在理论研究的基础上搭建硬件实验平台,编写了软件测控程序,并开展压电柔性机械臂振动控制的实验研究;最后,对柔性臂在自由衰减和持续激励的情况下分别进行振动主动控制实验。实验结果表明,柔性臂在2种激励下的振动均得到了有效抑制。

The modeling and active vibration control of a piezoelectric flexible manipulator system are presented,taking the Euler-Bernoulli cantilever as an example.Considering the non-linearity and complexity of a flexible system,the transfer function combining the input voltage of the actuator and the output voltage of the sensor arises from the experimental identification.Aiming at the elastic vibration,the weighted matrix of the model based on the linear quadratic regular(LQR)theory,which is difficult to solve,is optimizaed by the genetic algo⁃rithm.On this basis,the experimental platform is construacted and the control program is compiled for the vibra⁃tion control test of a flexible manipulator.The results show that the proposed method suppresses the vibration of the flexible manipulator both under free attenuation and continuous excitation as demanded.