摘要
采用大型测量臂进行定点测量时,由于自身阻尼和刚度较小,会导致其残余振动衰减缓慢,测量时间较长。针对这一问题,对大型测量臂残余振动的开环控制进行了研究,提出了采用输入整形技术对测量臂的残余振动进行抑制的策略。首先,对输入整形原理、计算方法和输入整形器进行了阐述,推导出了脉冲系列中各脉冲的幅值和作用时间的约束方程,并给出了不同整形器抑制测量臂残余振动所需的脉冲序数和脉冲幅值及时间;然后,利用MATLAB对零振动整形器(ZV)、零振动一阶微分整形器(ZVD)和极不敏感整形器(EI)在残余振动、时滞和灵敏度三个方面进行了仿真,研究了测量臂的不同转速对不同整形器的时滞和余振的影响,并分析了不同整形器关于阻尼比和频率的灵敏度曲线;最后,搭建了测试平台,对三种整形器在不同转速下的抑振效果进行了测试,并采用仿真和实验相结合的方法,对比了不同输入整形器对大型测量臂的残余振动抑制效果。研究结果表明:当系统参数足够准确时,ZV整形器在半个振动周期后立刻消除残余振动,ZVD整形器和EI整形器都在一个振动周期后立刻消除残余振动;当系统阻尼比和固有频率不够准确时,ZVD整形器仍能实现较好的抑振效果,其在三种速度下对测量臂末端残余振动峰值抑制率分别为87.31%(1°/s)、42.26%(2°/s)和40.62%(3°/s)。基于输入整形技术的测量臂残余振动抑制策略可以满足大型测量臂残余振动抑制,提高了测量效率。
To address the issue of prolonged measurement time caused by slow residual vibration attenuation due to insufficient damping and stiffness in large-scale measurement arms during fixed-point measurements,the application of an input shaping algorithm for residual vibration suppression was proposed.First,the principle,calculation method,and input shaper of input shaping were elaborated.Constraint equations for determining the amplitudes and timing of impulses in the pulse sequence were derived,along with specific pulse quantities,amplitudes,and timings required for different shapers to suppress residual vibrations in the measurement arm.Then,MATLAB simulations were conducted to analyze three shapers,zero vibration(ZV),zero vibration and derivative(ZVD),and extra insensitive(EI)in terms of residual vibration suppression,time delay,and sensitivity.The effects of varying rotational speeds on time delay and residual vibration were investigated,and sensitivity curves of the shapers concerning damping ratio and frequency were analyzed.Finally,a test platform was established to evaluate the vibration suppression performance of the three shapers at different speeds,with experimental results validating the simulations.The residual vibration suppression effects of different input shapers on large measuring arm were compared by means of simulation and experiment.The research results demonstrate that when system parameters are sufficiently accurate,the ZV shaper eliminates residual vibration immediately after half a vibration cycle,while ZVD shaper and EI shaper achieve complete suppression after one full vibration cycle.Under parameter uncertainties(damping ratio and natural frequency),the ZVD shaper maintains effective suppression,achieving peak suppression rates of 87.31%(1°/s),42.26%(2°/s),and 40.62%(3°/s)at three speeds.The residual vibration suppression strategy of measuring arm based on input shaping technology can meet the requirements of residual vibration suppression of large measuring arm to improve measurement efficiency.
作者
杨云峰
窦晓亮
郝树涛
师永林
张端
薛宇良
YANG Yunfeng;DOU Xiaoliang;HAO Shutao;SHI Yonglin;ZHANG Duan;XUE Yuliang(Qinghai Huanghe Hydropower Development Co.,Ltd.,Xining 810008,China)
出处
《机电工程》
北大核心
2025年第10期1981-1989,共9页
Journal of Mechanical & Electrical Engineering
基金
国家重点研发计划项目(2023YFB3306600)。
