采用加速度整形与力矩补偿的柔性连杆振动抑制方法  

The acceleration shaping and torque compensation method on flexiblelink for its vibration suppression

作　　者：徐建明[1] 万准生 董建伟 马益普 XU Jian-ming;WAN Zhun-sheng;DONG Jian-wei;MA Yi-pu(College of Information Engineering,Zhejiang University of Technology,Hangzhou 310023,China)

机构地区：[1]浙江工业大学信息工程学院,浙江杭州310023

出　　处：《振动工程学报》2021年第5期1027-1035,共9页Journal of Vibration Engineering

基　　金：国家自然科学基金-浙江省自然科学基金联合基金两化融合项目(U1709213);国家自然科学基金面上项目(61374103)。

摘　　要：针对负载柔性连杆在加速,减速和停止阶段会发生残余弹性振动的现象,研究一种滚珠丝杆驱动柔性连杆的振动抑制方法。采用频率激励法和最小二乘法辨识柔性连杆加速度固有谐振频率和电机滚珠丝杆驱动柔性连杆系统动力学模型参数:转动惯量和摩擦系数。在此基础上采用输入整形法规划加速度信号,降低规划的加速度信号中柔性连杆的固有谐振频率区域内信号幅值,以避免激励固有谐振。根据柔性连杆动力学模型估计连杆加速度信号,采用广义最小方差控制方法,设计柔性连杆振动抑制控制器输出谐振力矩补偿信号,以此来抑制运行过程中连杆弯曲变形产生的振动。最后在搭建的滚珠丝杆滑块驱动柔性连杆的实验平台上进行实验,实验结果验证了所研究方法的有效性。A vibration suppression control method for a ball screw driven flexible link is studied aiming at the phenomenon of residual elastic vibration in the stages of acceleration,decelerating and stopping under a flexible link load.The frequency excitation method and the least squares method are used to identify the natural resonant frequency of the flexible link acceleration and the dynamic model parameters of the ball screw driven flexible link system of the motor∶rmoment of inertia and friction coefficient.On this basis,the input shaping method is used to plan the acceleration signal,and the amplitude of the signal is reduced in the natural resonance frequency region of the flexible link in the planned acceleration signal to avoid exciting the natural resonance.The acceleration signal of the link is estimated according to the dynamic model of the flexible link,and the flexible link vibration suppression controller to export the resonance torque compensation signal is designed by using the generalized minimum variance control method to suppress the vibration caused by bending deformation of the connecting rod in running process.Finally,the experiment is carried out on a built experimental platform of ball screw slider driven flexible link.The experimental results show the effectiveness of the research method.

关 键 词：振动抑制 柔性连杆 加速度整形 广义最小方差 

分 类 号：TB535[理学—物理] TH113.1[理学—声学]