中国机械工程 ›› 2010, Vol. 21 ›› Issue (17): 2017-2020,2024.

• 机械基础工程 •    下一篇

一种新型两自由度柔性并联机械手的主动振动控制及其仿真

胡俊峰;张宪民
  

  1. 华南理工大学,广州,510641
  • 出版日期:2010-09-10 发布日期:2010-09-20
  • 基金资助:
    国家杰出青年基金资助项目(50825504)
    National Science Foundation for Distinguished Young Scholars( No. 50825504)

Active Vibration Control and Its Simulation of a Novel 2-DoF Flexible Parallel   Manipulator

Hu Junfeng;Zhang Xianmin
  

  1. South China University of Technology,Guangzhou,510641
  • Online:2010-09-10 Published:2010-09-20
  • Supported by:
    National Science Foundation for Distinguished Young Scholars( No. 50825504)

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摘要：

针对一种新型两自由度柔性并联机械手,在含有压电元件的有限元模型基础上,基于模态理论和滑模变结构理论,研究其振动主动控制问题。采用有限元法和模态理论建立系统的动力学模型。根据系统的性能要求,采用最优化方法确定滑移面,基于Lyapunov直接法设计滑模控制器。控制器能对系统的前几阶模态实施控制,实现机械手的振动主动控制。仿真结果表明,该控制器可有效地抑制柔性构件产生的弹性振动,减小并联机械手动平台的位置误差,从而验证了该控制器的可行性和有效性。

关键词:

Abstract:

Mode theory and variable structure control were applied to design active vibration controller for a novel 2-DoF flexible parallel manipulator with piezoelectric actuators and sensors. The dynamics equations of
the system were derived by using finite element method and mode theory.
The sliding surface was determined by using optimization method according to the performance demands of the system,and the sliding controller was designed by applying Lyapunov direct method.The controller can suppress the first modes to fulfil the active vibration control of the manipulator.The simulation results show the controller can effectively attenuate elastic vibration caused by flexible parts,and reduce the displacement errors of mobile platform of the parallel manipulator, and it is feasible and effective.

Key words: flexible parallel manipulator, active vibration control, variable structure control, finite element method, mode theory

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