失重环境下可控柔性臂的模态特性  

Mode Characteristics for the Controllable Flexible Manipulator in Weightlessness

作　　者：褚明[1] 贾庆轩[1] 孙汉旭[1] 

机构地区：[1]北京邮电大学自动化学院,北京100876

出　　处：《机器人》2009年第6期568-573,共6页Robot

基　　金：教育部科学技术研究重大项目(307005)

摘　　要：在非重力场中,考虑控制器动态反馈的影响,对存在控制器定位约束的柔性臂系统进行动力分析,研究其在相对平衡位置的模态特性.以具有柔性关节和弹性臂杆的可控柔性臂为研究对象,分析了控制器作用下的反馈约束特性,将控制器位置和速度增益引入力边界条件,得到了耦合控制器参量的模态特征方程,证明了反馈约束的存在使得系统特征频率为复频率,且模态主振型是复变函数.通过数值仿真,明确了可控柔性臂的模态特性与控制器增益之间的关系,得到了不同于经典振动理论的结论.设计了可控柔性臂的仿失重实验平台,试验模态结果证明了理论分析的有效性.In weightlessness, the dynamics analysis for the controller positioning constrained flexible manipulator system is accomplished with the effect of controller dynamic feedback being taken into account, and its mode characteristics at the relatively balancing position are investigated. Aimed at a controllable manipulator with flexible joint and flexible link, the feedback constraint characteristics under the action of controller are analyzed. The position and velocity gain of controller are introduced into the force boundary conditions; then, the modal characteristic equation of coupled controller parameters is obtained, and the results verify that both characteristic frequency and modal shape function belong to the complex field due to the existence of feedback constraints. The numerical simulation results show the relation between the modal characteristics of the controllable flexible manipulator and the gains of controller, which is completely different from the classical vibration theory. A simulant weightless platform for the controllable flexible manipulator is designed and the experimental modal results prove the validity of theoretical analysis.

关 键 词：失重 可控柔性臂 状态反馈约束 边界条件 复模态 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置]