| 一种新型两自由度柔性并联机械手的主动振动控制及其仿真 |
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| 引用本文： | 胡俊峰,张宪民. 一种新型两自由度柔性并联机械手的主动振动控制及其仿真[J]. 中国机械工程, 2010, 0(17) |
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| 作者姓名： | 胡俊峰 张宪民 |
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| 作者单位： | 华南理工大学; |
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| 基金项目： | 国家杰出青年基金资助项目(50825504) |
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| 摘 要： | 针对一种新型两自由度柔性并联机械手,在含有压电元件的有限元模型基础上,基于模态理论和滑模变结构理论,研究其振动主动控制问题。采用有限元法和模态理论建立系统的动力学模型。根据系统的性能要求,采用最优化方法确定滑移面,基于Lyapunov直接法设计滑模控制器。控制器能对系统的前几阶模态实施控制,实现机械手的振动主动控制。仿真结果表明,该控制器可有效地抑制柔性构件产生的弹性振动,减小并联机械手动平台的位置误差,从而验证了该控制器的可行性和有效性。
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| 关 键 词： | 柔性并联机械手 振动主动控制 滑模变结构控制 有限元法 模态理论 |
Active Vibration Control and Its Simulation of a Novel 2-DoF Flexible Parallel Manipulator |
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| Hu Junfeng Zhang Xianmin South China University of Technology,Guangzhou. Active Vibration Control and Its Simulation of a Novel 2-DoF Flexible Parallel Manipulator[J]. China Mechanical Engineering, 2010, 0(17) |
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| Authors: | Hu Junfeng Zhang Xianmin South China University of Technology Guangzhou |
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| Affiliation: | Hu Junfeng Zhang Xianmin South China University of Technology,Guangzhou,510641 |
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| Abstract: | Mode theory and variable structure control were applied to design active vibration controller for a novel 2-DoF flexible parallel manipulator with piezoelectric actuators and sensors.The dynamics equations of the system were derived by using finite element method and mode theory.The sliding surface was determined by using optimization method according to the performance demands of the system,and the sliding controller was designed by applying Lyapunov direct method.The controller can suppress the first mode... |
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| Keywords: | flexible parallel manipulator active vibration control variable structure control finite element method mode theory |
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