2R柔性机械臂压电抑振的模糊控制实验研究

柔性机械臂在运动过程中不可避免产生弹性振动,对柔性机械臂的振动抑制成为重要研究课题.基于压电陶瓷的模糊控制抑振,利用电阻应变传感器检测机械臂振动信息,经动态应变仪采集到计算机系统,根据控制规律进行模糊运算,得到控制电压;再以该电压驱动压电陶瓷片,产生与振动方向相反控制力矩,抑制机械臂柔性变形.实验结果显示,压电抑振效果显著,模糊控制的鲁棒性较高.

Experimental Study of Fuzzy Control for Vibration Suppression of Dual-flexible Manipulation Basing on PZT

Elastic vibration is inevitably caused during movement of flexible arms, so the vibration suppression has become an important topic. For a vibration suppression system basing on PZT and fuzzy control theory, vibration information can be detected using resistance strain sensor and collected into computer system through dynamic strain-gauge. Then fuzzy operation is carried out according to fuzzy control laws, following that control voltage is determined. Finally, the PZT is driven with the voltage to produce a control torque opposite to the vibration direction and the flexible deformation is suppressed. Experimental results show that the PZT can suppress the elastic vibration significantly, and the fuzzy control itself is robust.