一种多模态振动系统的位置控制方法

A Position Control Method for Multi-mode Vibration System

以多模态柔性系统为研究对象,针对多模态柔性系统在操作时产生振动,影响操作性能和定位精度的问题,提出了一种基于振动叠加原理和位置控制原理对柔性系统进行主动振动抑制的方法。首先利用振动叠加原理,对系统的振动进行分解,讨论了系统的振动状态与能量表达;接着以系统的振动能量为指标,给出了抑制振动的输入位移的一种选择方法;然后为保证多模态系统在减振完成后的定位精度,提出了一种位置控制方法。为了验证所提出的振动抑制方法的有效性,首先在ADAMS中建立了单输入多模态系统的模型,然后导入Simulink中进行联合仿真,讨论此振动抑制方法的有效性以及其抑制特性。仿真结果表明:所提出的方法的减振效果良好,对比传统的控制方法来说,有较高的鲁棒性,有效抑制了系统的振动并且保证了系统的定位精度。

The multi-mode flexible system is taken as the research object,and aiming at the problem that the multi-mode flexible system generates vibration during operation,which affects the operation performance and positioning accuracy,a method of active vibration suppression of flexible system based on vibration superposition principle and position control principle is proposed.Firstly,the vibration of the system is decomposed by using the principle of vibration superposition,and the vibration state and energy expression of the system are discussed.Then,taking the vibration energy of the system as the index,a selection method of the input displacement to suppress the vibration is given.Then,in order to ensure the positioning accuracy of the multi-modal system after the vibration reduction is completed,a position control method is proposed.In order to verify the effectiveness of the proposed vibration suppression method,a single-input multi-modal system model is established in ADAMS,and then imported into SIMULINK for joint simulation.The effectiveness of the vibration suppression method and its suppression characteristics are discussed.The simulation results show that the proposed method has good vibration reduction effect.Compared with the traditional control method,it has higher robustness,effectively suppresses the vibration of the system and ensures the positioning accuracy of the system.