摘要
针对柔性机械臂的振动问题 ,采用压电智能结构作为敏感器和驱动器进行主动控制 .首先建立柔性机械臂的实验装置 ,其次对设计的柔性机械臂系统进行辨识研究 ,得到系统的前二阶模态频率 ,再次采用PD控制和PPF控制算法对柔性机械臂进行主动振动控制 .实验结果表明 ,采用压电智能结构可以抑制柔性机械臂的振动 ,效果明显 .
This paper uses piezoelectric ceramics as actuators and sensors to suppress the vibration of flexible manipulator. Firstly,the experimental setup of the flexible manipulator is built. Secondly,from the identification of the system, the modal frequency of the system is obtained. Thirdly,experiment on active vibration control is carried out by using PD control method and PPF (Positive Position Feedback) control method. The experimental results prove that the method is effective in vibration suppression of flexible manipulator.
出处
《机器人》
EI
CSCD
北大核心
2004年第1期45-48,73,共5页
Robot
基金
国家自然科学基金重点资助项目 (60 0 340 1 0 )
关键词
柔性机械臂
压电智能结构
主动振动控制
flexible manipulator
piezoelectric smart structure
active vibration control
