缆索加劲的柔性机械臂振动特性及其边界控制
Vibration Characteristics of Cable Stiffened Flexible Manipulator and Its Boundary Control
吴彦达 1牛军川 2常锟1
作者信息
- 1. 山东大学机械工程学院,山东济南 250061
- 2. 山东大学机械工程学院,山东济南 250061;山东大学深圳研究院,广东 深圳 518057
- 折叠
摘要
针对柔性机械臂末端振动问题提出一种新型双边缆索加劲被动控制方式,建立双边缆索加劲柔性机械臂的动力学模型,并分析柔性机械臂末端振动固有频率以及振动幅度等振动特性.此外,为了控制柔性机械臂的关节定位精度以及提高其末端残余振动的抑制效果,基于双边缆索加劲柔性机械臂模型提出一种考虑缆索参数的边界控制策略,并通过Lya-punov 方法证明该边界控制下柔性机械臂系统的稳定性.仿真结果表明:考虑新型缆索加劲的被动控制方式能够有效提高柔性机械臂系统刚度,并降低柔性机械臂末端振动幅值,改善柔性机械臂末端振动情况;提出的边界控制策略能够大幅度提高柔性机械臂关节的定位精度,并减少柔性机械臂达到稳态的时间,提高柔性机械臂运行效率.
Abstract
A new type of bilateral cable-stiffened passive control was proposed for the end vibration of flexible manipulator,and the dynamic model of the bilateral cable-stiffened flexible manipulator was established,and the natural frequency and vibration amplitude at the end of the flexible manipulator were analyzed.In addition,in order to control the joint positioning accuracy of the flexible manipulator and improve the suppression effect of the end residual vibration,a boundary control strategy considering the cable parameters was pro-posed based on the bilateral cable-stiffened flexible manipulator model,and the stability of the flexible manipulator system under the boundary control was proved by the Lyapunov method.The simulation results show that the passive control method considering the new cable stiffening can effectively improve the stiffness of the flexible manipulator system and reduce the vibration amplitude at the end of the flexible manipulator,improve the vibration at the end of the flexible manipulator;the proposed boundary control strategy can greatly improve the positioning accuracy of the joints of the flexible manipulator and reduce the time for the flexible manipulator to reach the steady state,so as to increase the operating efficiency of the flexible manipulator.
关键词
柔性机械臂/缆索加劲/边界控制/振动抑制Key words
flexible manipulator/cable stiffening/boundary control/vibration suppression引用本文复制引用
出版年
2024
NETL
NSTL
维普
万方数据