柔性连杆与液体晃动耦合交互动力学与控制  

Nonlinear link-sloshing dynamics and oscillation control of a flexible manipulator carrying a liquid tank

作　　者：丁敏灵 黄杰[2] 吴富珍 潘元岳 陈浩然 DING Minling;HUANG Jie;WU Fuzhen;PAN Yuanyue;CHEN Haoran(Shanghai Space Propulsion Technology Research Institute,Shanghai Academy of Spaceflight Technology,Shanghai 201109,China;School of Mechanical Engineering,Beijing Institute of Technology,Beijing 100081,China)

机构地区：[1]上海航天技术研究院上海航天动力技术研究所,上海201109 [2]北京理工大学机械与车辆学院,北京100081

出　　处：《兵器装备工程学报》2024年第S01期300-307,共8页Journal of Ordnance Equipment Engineering

基　　金：国家自然科学基金项目(51775041)。

摘　　要：建立了轻量化柔性连杆机械臂运载贮液容器时梁液发生耦合交互的动力学模型和振动控制方法。采用新的解析动力学建模方法估计耦合交互系统的频率。对连杆振动和液体晃动耦合振荡抑制采用了一种振荡控制方法。搭建柔性梁运载贮液容器实验台,验证了所得到的动力学模型和频率估计方法仿真结果,所提出的控制方法能有效抑制梁液耦合系统的振动。Robotic manipulators transporting liquid tank have been commonly applied in many industrial applications.However,the interaction between lightweight robotic structure and liquid sloshing exhibits complex dynamic behaviors,which degrade the positioning accuracy and safe operation.Few efforts have been focused on theoretical investigation and experimental validation of interaction between flexible structure and liquid sloshing.An analytical model of a lightweight link manipulator transporting a liquid tank has been reported in this article.The interaction between lightweight link and fluid sloshing has been described in this model.Then a method has been derived to estimate the frequencies of coupled link-sloshing dynamics.Additionally,a control method has been presented to attenuate coupled oscillations of the link-sloshing dynamics.Experiments validated the effectiveness of the dynamic model and control method.

关 键 词：柔液耦合交互 动力学建模 动力学分析 振动控制 实验 

分 类 号：TH-39[机械工程]