摘要
基于已建立的柔性并联机构的刚-弹耦合非线性动力学模型,通过模态理论,截取系统前r阶低阶模态,导出该类刚柔耦合系统的振动控制方程。基于Lyapunov稳定性理论,采用指数趋近律函数,设计了滑模变结构控制器。通过仿真和实验,与应变率反馈控制进行比较,验证了滑模变结构控制器在抑制并联机构柔性连杆弹性振动方面的有效性和优越性。研究结果为高速精密定位平台的设计提供理论支撑。
This paper presented a research concerning active residual vibration control of rigid-flexible coupling flexible parallel mechanisms based on the established rigid-elastic coupling and nonlinear equations of motion of flexible parallel mechanisms.Because elastic vibrations of the system are mainly induces by its low order model,the high-order equations of the system in physical space were transformed into modal space through the modal theory,and the low-order modal equation was formed through intercepting the first r order models.Based on Lyapunov stability theory,the sliding mode variable structure controller was designed by employing exponential approach law function.Compared with the strain rate feedback control,the superiority of the sliding mode variable structure controller in suppressing the elastic vibration of the flexible parallel mechanism was verified through simulation and experiment.The results will provide theoretical support for the design of high-speed precise positioning platform.
作者
张清华
ZHANG Qinghua(Department of Mechatronics,Foshan University,Foshan 528000,China)
出处
《兵器装备工程学报》
CAS
北大核心
2020年第3期91-96,共6页
Journal of Ordnance Equipment Engineering
基金
国家自然科学基金项目“压电驱动柔顺微夹钳几何非线性设计与夹固感知研究”(51805083)
广东省普通高校科研项目(2018KZDXM074)
广东省自然科学基金项目“分布式柔性并联机器人机构动力学建模与振动主动控制研究”(2015A030310181)。
关键词
柔性并联机构
振动主动控制
滑模变结构控制
模态截断
有限元法
flexible parallel mechanisms
active vibration control
sliding mode variable control
modal truncation
finite element method
