双重驱动双连杆柔性臂系统建模与抑振仿真  

Modeling and simulation for suppressing vibration of a dual driving flexible manipulator

作　　者：戴学丰[1] 孙立宁[1] 蔡鹤皋[1] 

机构地区：[1]哈尔滨工业大学机器人研究所,黑龙江哈尔滨150001

出　　处：《电机与控制学报》2004年第4期326-328,共3页Electric Machines and Control

基　　金：高等学校博士点科研基金资助项目(2000021323)高等学校骨干教师资助计划项目(1043)

摘　　要：以宏微双重驱动的双连杆柔性臂机器人为背景,研究其建模与振动控制问题。通过忽略弹性振动对刚性运动的影响,用拉格朗日方程建立了对刚性运动模型,建立了由伺服电机和压电陶瓷共同作用下的振动方程,然后在刚性模型基础上叠加振动模型实现了对柔性臂的描述;这种模型的优点是系统总的模型简单且易于同时考虑多个振动模态。最后给出了压电陶瓷抑振过程的计算机仿真结果。A novel modeling strategy and an approach for suppressing vibration are considered for a two-link flexible manipulator under macro/micro driving. Neglecting the effect of the elastic motion on the rigid motion, the rigid system dynamics is derived by Langrangian equation. The flexural equations acted by servo motors and PZT are proposed. The total model of the flexible manipulators is the composition of rigid equation and flexible one. The advantage of the proposed model is its simplicity and easiness for dealing with lots of modals simultaneously. Simulation results for suppressing vibrations by PZT actuators are presented.

关 键 词：柔性臂机器人 压电陶瓷 振动控制 建模 仿真 控制算法 双重驱动双连杆柔性臂系统 计算机仿真 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置] TP391.9[自动化与计算机技术—控制科学与工程]