含变质量构件的轴向运动梁的横向振动主动控制  

Transverse vibration control of an axially moving beam system with time varying mass

作　　者：马驰骋[1,2] 张希农[2] 代祥俊[1] 周长城[1] 郭宗和[1] MA Chi-cheng;ZHANG Xi-nong;DAI Xiang-jun;ZHOU Chang-cheng;GUO Zong-he(School of Transportation and Vehicle Engineering,Shandong University of Technology,Zibo 255000,China;State Key Laboratory for Strength and Vibration of Mechanical Structures,Xi′an Jiaotong University,Xi′an 710049,China)

机构地区：[1]山东理工大学交通与车辆工程学院,山东淄博255000 [2]西安交通大学机械结构强度与振动国家重点实验室,陕西西安710049

出　　处：《振动工程学报》2019年第3期396-403,共8页Journal of Vibration Engineering

基　　金：山东省自然科学基金资助项目(ZR2016AL06,ZR2016EEM12);国家自然科学基金资助项目(11702162,11672167);机械结构强度与振动国家重点实验室开放课题(SV2016-KF-07)

摘　　要：轴向运动结构是一类广泛使用的工程传送元件,而在传送过程中常常包含质量运动或者质量变化,质量的运动或改变和轴向运动间相互耦合作用,使结构的振动更加突出.为满足轴向运动机构高精度准定位的需求,围绕含变质量构件的机械臂结构,开展变质量-轴向运动耦合作用结构的振动主动控制研究.首先基于Galerkin法和模态叠加法建立了变质量-轴向运动压电梁的控制方程,然后针对系统的时变特性,设计LQG控制器对系统进行振动主动控制,并分析了多种工况下结构的振动抑制问题,最后采用Choi-Williams分布将信号在时频域上分解,分析了控制前后系统的时频特性.数值分析表明,施加LQG控制后,系统的横向振动在相关频率内都得到了有效的抑制,使用Choi-Williams分布可以准确反映系统振动频率与振动能量随时间的变化规律.通过研究含时变参数的轴向运动结构的运动特性和振动主动控制,对于智能机械臂结构设计具有一定指导意义.Axially moving structures are widely used as basic components in kinds of delivery systems. It is very common that mass changing or mass moving occurs in the process of delivery, which causes the increase or decrease of the total mass. The coupling of variation of the mass and the axially moving makes more significant vibration of the structures. This paper studies the active vibration control of the axially moving structures with time varying mass by taking an axially moving manipulator at-tached with a time varying concentrated mass as a specific subject. The governing equations of the time varying system are de-rived using Galerkin method and mode superposition method. Then LQG controller is designed for controlling the vibration of the system with different conditions taken into account, including the increasing mass system and the decreasing mass system. Finally, the response signals are decomposed by the method of Choi Williams distribution, and the time frequency features are obtained. Numerical simulations demonstrate that the vibration of the system is effectively controlled under the LQG controller in the limited range of frequencies, and the variation of the frequency and vibration energy can be given by Choi Williams distri-bution, showing that it is a much more powerful tool than FFT. The study on the dynamic characteristics and active control of the axially moving structures with time varying mass can offer guides to innovative design of smart manipulators.

关 键 词：振动主动控制 轴向运动梁 变质量 LQG控制器 

分 类 号：TB535[理学—物理]