两自由度柔性臂压电陶瓷抑振方案优化设计

Research on Design-optimization in Vibration Control by PZT of a Dual-flexible Manipulator

振动控制是柔性臂控制的主要任务。两自由度柔性臂系统是非性线系统,并且存在强运动耦合,模型复杂。因此有效的抑振方案对柔性臂控制至关重要。该文以两自由度柔性臂残余振动分析为依据,对压电陶瓷作动器与振动传感器的布置位置进行了优化设计,提出了压电陶瓷作动器与振动传感器相结合的抑振方案。实验证明这种抑振方案是有效的。

Vibration control is the main task in flexible manipulator controlling.A dualflexible manipulator is nonlinear,sharp movementcoupling,and has a complex model.So an effective scheme for vibration control is important.Basing on analysis of remnants vibration,this article discusses a method to optimize the positions where the PZT actuators and vibration sensors are fixed,and gives a vibration control scheme which includes PZT actuators and vibration sensors.Experiments have proved that this scheme is effective.