摘要
首先,基于弹性力学理论建立了主动抑振系统的动力学模型,并对其前三阶振型进行了数值仿真分析;其次,根据三阶振型曲线及仿真分析,确定了PZT传感器和驱动器的粘贴位置;最后,基于NI虚拟仪器搭建了抑振效果测试平台.实验测试结果显示,柔性机械臂在一阶固有频率下振动时根部抑振效果最佳,抑振率为44.51%,该实验为后续柔性臂在二阶、三阶固有频率下抑振方案的有效性分析与验证提供了良好的基础.
An active suppression method based on PZT patches was proposed and a single link manipulator was employed to illustrate the efficiency of this vibration control method.This system was composed of a single link flexible beam,PZT sensors and PZT actuators.Firstly,a theoretical model of a single link flexible manipulator with PZT patches was set up and the first three mode shapes were obtained with numerical simulation. Furthermore, the position of PZT sensors and actuators were figured out according to these three mode shapes.Finally, an experiment platform was set up based on the NI virtual instru ment and the result of experiment showed that：the optimal position of vibration control for a flexible beam moving at the first frequency occurs at the fixed end of the beam and the system can get 44.51 vibration suppression.This work provides a foundation for further research of vibration control at the second and third frequency.
出处
《安徽工程大学学报》
CAS
2016年第4期42-46,共5页
Journal of Anhui Polytechnic University
基金
国家自然科学基金资助项目(51275001
51375469)
关键词
柔性机械臂
压电陶瓷
主动抑振
最优位置
flexible beam
PZT sensors and actuators
active suppression
optimal position
