含变质量负载的双连杆机械臂振动控制  

A STUDY ON VIBRATION CONTROL OF DOUBLE-LINK MANIPULATORS WITH VARIABLE MASS LOADS

作　　者：马驰骋[1] 胡帅钊 高坤明 张春林 郭宗和[1] Ma Chicheng;Hu Shuaizhao;Gao Kunming;Zhang Chunlin;Guo Zonghe(School of Transportation and Vehicle Engineering,Shandong University of Technology,Zibo 255000,China;College of Civil,Central South University of Forestry and Technology,Changsha 410004,China)

机构地区：[1]山东理工大学交通与车辆工程学院,淄博255000 [2]中南林业科技大学土木工程学院,长沙410004

出　　处：《动力学与控制学报》2021年第2期61-68,共8页Journal of Dynamics and Control

基　　金：国家自然科学基金资助项目(11702162);山东省自然科学基金项目(ZR2020MA057);淄博市校城融合项目(2019ZBXC288)。

摘　　要：本文研究了一种具有变质量负载的双连杆机械臂结构的振动反馈控制.利用刚体动力学方法计算了随时间变化的惯性力,包括伺服电机、端点时变质量负载和连杆分布质量引起的惯性力.基于有限元理论建立了双连杆-变质量结构的动力学模型,并使用Bathe法求解该时变系统动力学方程,根据响应分析了质量变化对系统动力学特性的影响,发现当质量改变时,质量变化诱发了系统残余振动幅值的剧烈变化,主要原因是质量变化引起了一个阻尼力的作用.在动力学特性分析的基础上,通过速度比例负反馈控制器,利用压电材料实现结构残余振动的主动控制.开展了多种工况下双连杆机械臂结构的残余振动控制仿真,包括随时间增大的质量负载和随时间减小的质量负载,以及典型运动形式下的双连杆.结果表明通过施加反馈控制可以有效抑制结构的残余振动,提高机械臂的运动稳定性和定位精度.This paper focuses on the vibration feedback control of double-link manipulators with variable mass loads.The time varying inertial force is calculated by rigid body dynamics,including the inertial force caused by the servo mo⁃tor,the time-varying load mass at the end and the distributed mass of the rods.Based on the finite element theory,the dynamical model of the double connecting rod-variable mass structure is established,and the dynamic equation of the time-varying system is solved using the Bathe’s method,with the vibration signal of the end point being simulated.Ac⁃cording to the responses,the influence of mass change on the dynamic characteristics of the system is analyzed,and the load mass change affects the vibration amplitude of the system significantly.The main reason is that the mass change causes an additional damping force.On the basis of dynamical analysis,a velocity proportional feedback controller is de⁃signed to actively control the residual vibration using piezoelectric patches.Active vibration control of the structure un⁃der various working conditions is carried out,including the case for mass-increasing loads and mass-decreasing loads,taking into account the typical motion modes of the double-link.The results indicate that the residual vibration of the structure can be effectively suppressed with feedback control,and the motion stability and positioning accuracy of the manipulator can also be improved.

关 键 词：双连杆结构 变质量负载 反馈控制 负阻尼力 

分 类 号：TP241[自动化与计算机技术—检测技术与自动化装置]