The component synthesis active vibration suppression method （CSVS） can be applied to suppress the vibration of flexible systems. By this method, several same or similar time-varying components are arranged according...The component synthesis active vibration suppression method （CSVS） can be applied to suppress the vibration of flexible systems. By this method, several same or similar time-varying components are arranged according to certain rules along the time axis. The synthesized command can suppress the arbitrary unwanted vibration harmonic while achieving the desired rigid body motion. The number of the components increases rapidly when the number of harmonic vibration is growing. In this article, the CSVS based on zero-placement technique is used to construct the synthesized command to suppress the multi-harmonics simultaneously in the discrete domain. The nature of zero-placement method is to put enough zeros to cancel system poles at necessary points. The designed synthesized command has equal time intervals between each component and which is much easier to be implemented. Using this method, the number of components increases linearly with the increasing of the number of being suppressed harmonics. For the spacecraft with flexible appendages, CSVS based on zero-placement is used to design the time optimal large angle maneuver control strategy. Simulations have verified the validity and superiority of the proposed approach.展开更多
A generalized scheme based on the sliding mode and component synthesis vibration suppression (CSVS) method has been proposed for the rotational maneuver and vibration suppression of an orbiting spacecraft with flexibl...A generalized scheme based on the sliding mode and component synthesis vibration suppression (CSVS) method has been proposed for the rotational maneuver and vibration suppression of an orbiting spacecraft with flexible appendages. The proposed control design process is twofold: design of the attitude controller followed by the design of a flexible vibration attenuator. The attitude controller using only the attitude and the rate information for the flexible spacecraft (FS) is designed to serve two purposes: it forces the attitude motion onto a pre-selected sliding surface and then guides it to the state space origin. The shaped command input controller based on the CSVS method is designed for the reduction of the flexible mode vibration, which only requires information about the natural frequency and damping of the closed system. This information is used to discretize the input so that minimum energy is injected via the controller to the flexible modes of the spacecraft. Additionally, to extend the CSVS method to the system with the on-off actuators, the pulse-width pulse-frequency (PWPF) modulation is introduced to control the thruster firing and integrated with the CSVS method. PWPF modulation is a control method that provides pseudo-linear operation for an on-off thruster. The proposed control strategy has been implemented on a FS, which is a hub with symmetric cantilever flexible beam appendages and can undergo a single axis rotation. The results have been proven the potential of this technique to control FS.展开更多
A component synthesis vibration suppression (CSVS) method for flexible structures is put forward. It can eliminate any unwanted orders of flexible vibration modes while achieves desired rigid motion. This method has ...A component synthesis vibration suppression (CSVS) method for flexible structures is put forward. It can eliminate any unwanted orders of flexible vibration modes while achieves desired rigid motion. This method has robustness to uncertainty of frequency, which makes it practical in engineering. Several time optimal and time-fuel optimal control strategies are designed for a kind of single flexible link. Simulation results validate the feasibility of our method.展开更多
In order to find out the matching principle of excitation force and energy consumption of reciprocating vibrating Chinese wolfberry picking device,the energy consumption mechanism of reciprocating vibrating Chinese wo...In order to find out the matching principle of excitation force and energy consumption of reciprocating vibrating Chinese wolfberry picking device,the energy consumption mechanism of reciprocating vibrating Chinese wolfberry picking device is studied.According to the structural characteristics and operating principle of the picking device,the no-load and load movement and force characteristics of the crank bearing and vibrating component are analyzed,and the theoretical model of energy consumption of the reciprocating vibration picking device is jointly constructed,and the simulation analysis is carried out.The results show that the vibrating component and load mass have a significant influence on torque,the load air resistance phase has a significant effect on torque,and the load air resistance and friction coefficient have no significant influence on torque.Subsequently,by building an AC servo motor torque detection system and a torque sensing detection system,verification experiments are carried out,the maximum torque of the preset system is 1.3 N∙m,the rated power is 400 W,the motor frequency is 20 Hz,the amplitude is 15 mm,and the total mass of the vibrating component is 0.143 kg.Test results show that,the no-load operation,the change trend of detected torque is consistent with simulation,the torque model is verified to be accurate.The maximum torque of simulation and detection are 0.52 N∙m and 0.57 N∙m respectively,and the error between test and simulation is 9.6%.For load operation,the maximum torque of five groups of branch loads of 20 g,60 g,100 g,140 g,180 g and 220 g are detected to be 0.73 N∙m,0.74 N∙m,0.75 N∙m,0.82 N∙m and 0.83 N∙m,respectively,and the relationship model between load and torque is obtained by fitting.The research results can provide a theoretical basis which can configure a suitable motor in the reciprocating vibration Chinese wolfberry picking device with a certain load limit.展开更多
文摘The component synthesis active vibration suppression method （CSVS） can be applied to suppress the vibration of flexible systems. By this method, several same or similar time-varying components are arranged according to certain rules along the time axis. The synthesized command can suppress the arbitrary unwanted vibration harmonic while achieving the desired rigid body motion. The number of the components increases rapidly when the number of harmonic vibration is growing. In this article, the CSVS based on zero-placement technique is used to construct the synthesized command to suppress the multi-harmonics simultaneously in the discrete domain. The nature of zero-placement method is to put enough zeros to cancel system poles at necessary points. The designed synthesized command has equal time intervals between each component and which is much easier to be implemented. Using this method, the number of components increases linearly with the increasing of the number of being suppressed harmonics. For the spacecraft with flexible appendages, CSVS based on zero-placement is used to design the time optimal large angle maneuver control strategy. Simulations have verified the validity and superiority of the proposed approach.
文摘A generalized scheme based on the sliding mode and component synthesis vibration suppression (CSVS) method has been proposed for the rotational maneuver and vibration suppression of an orbiting spacecraft with flexible appendages. The proposed control design process is twofold: design of the attitude controller followed by the design of a flexible vibration attenuator. The attitude controller using only the attitude and the rate information for the flexible spacecraft (FS) is designed to serve two purposes: it forces the attitude motion onto a pre-selected sliding surface and then guides it to the state space origin. The shaped command input controller based on the CSVS method is designed for the reduction of the flexible mode vibration, which only requires information about the natural frequency and damping of the closed system. This information is used to discretize the input so that minimum energy is injected via the controller to the flexible modes of the spacecraft. Additionally, to extend the CSVS method to the system with the on-off actuators, the pulse-width pulse-frequency (PWPF) modulation is introduced to control the thruster firing and integrated with the CSVS method. PWPF modulation is a control method that provides pseudo-linear operation for an on-off thruster. The proposed control strategy has been implemented on a FS, which is a hub with symmetric cantilever flexible beam appendages and can undergo a single axis rotation. The results have been proven the potential of this technique to control FS.
基金This project is supported by National 211 Project.
文摘A component synthesis vibration suppression (CSVS) method for flexible structures is put forward. It can eliminate any unwanted orders of flexible vibration modes while achieves desired rigid motion. This method has robustness to uncertainty of frequency, which makes it practical in engineering. Several time optimal and time-fuel optimal control strategies are designed for a kind of single flexible link. Simulation results validate the feasibility of our method.
基金supported by National Natural Science Foundation of China(Grant No.32201681)the Ningxia Hui Autonomous Region Science and Technology Program(Grant No.2021BEF02001)The Fruit,Vegetable and Tea Harvesting Machinery Innovation Project of the Chinese Academy of Agricultural Sciences.
文摘In order to find out the matching principle of excitation force and energy consumption of reciprocating vibrating Chinese wolfberry picking device,the energy consumption mechanism of reciprocating vibrating Chinese wolfberry picking device is studied.According to the structural characteristics and operating principle of the picking device,the no-load and load movement and force characteristics of the crank bearing and vibrating component are analyzed,and the theoretical model of energy consumption of the reciprocating vibration picking device is jointly constructed,and the simulation analysis is carried out.The results show that the vibrating component and load mass have a significant influence on torque,the load air resistance phase has a significant effect on torque,and the load air resistance and friction coefficient have no significant influence on torque.Subsequently,by building an AC servo motor torque detection system and a torque sensing detection system,verification experiments are carried out,the maximum torque of the preset system is 1.3 N∙m,the rated power is 400 W,the motor frequency is 20 Hz,the amplitude is 15 mm,and the total mass of the vibrating component is 0.143 kg.Test results show that,the no-load operation,the change trend of detected torque is consistent with simulation,the torque model is verified to be accurate.The maximum torque of simulation and detection are 0.52 N∙m and 0.57 N∙m respectively,and the error between test and simulation is 9.6%.For load operation,the maximum torque of five groups of branch loads of 20 g,60 g,100 g,140 g,180 g and 220 g are detected to be 0.73 N∙m,0.74 N∙m,0.75 N∙m,0.82 N∙m and 0.83 N∙m,respectively,and the relationship model between load and torque is obtained by fitting.The research results can provide a theoretical basis which can configure a suitable motor in the reciprocating vibration Chinese wolfberry picking device with a certain load limit.
