机载悬臂体结构的主被动联合抑振  

Active and passive vibration suppression of airborne cantilever structure

作　　者：蔡赫 李科[1,2] 王燕波[1] 邓松波[1] 陈志鸿[1] CAI He;LI Ke;WANG Yanbo;DENG Songbo;CHEN Zhihong(Laboratory of Aerospace Servo Actuation and Transmission,Beijing Institute of Precision Mechatronics and Controls,100076 Beijing,China;School of Mechanical Engineering Harbin Institute of Technology,Engineering and Automation,518055 Shenzhen,China)

机构地区：[1]北京精密机电控制设备研究所航天伺服驱动与传动技术实验室,北京100076 [2]哈尔滨工业大学机械工程与自动化学院,深圳518055

出　　处：《应用力学学报》2024年第5期1015-1026,共12页Chinese Journal of Applied Mechanics

基　　金：国家自然科学基金资助项目(No.U1713202)。

摘　　要：为解决机载悬臂体结构在长悬臂梁挂载状态下的全频域减振问题,提出了一种基于耦合级联的主被动联合抑振模型及控制优化方法。通过在远端头体连接处加装机械手进行抑振。机械手采用主动抑振减小低频正弦振动,其上串联的被动减振器降低高频随机振动。在对头体连接处进行负载振动等效的基础上,提出了基于减振因子和总均方根加速度的主被动综合减振率的计算方法,并根据高低频切换频率(10 Hz)和综合减振率(40%)等指标得到机械手主被动减振参数。通过耦合级联的方法解决了机械手在主动抑振过程中悬臂体、机械手及其被动减振器的串联耦合问题,从而构建串联耦合作用下的机械手全伺服系统模型。最后采用伺服优化、抑振前馈和极点配置等综合优化算法提升机械手的动态性能。根据仿真结果,机械手的主动抑振带宽和综合减振率均满足抑振需求,为全频域环境载荷作用下机载挂载的减振问题提供了一种新的方法。In order to solve the problem of vibration reduction in full frequency domain of airborne cantilever structure in the form of long cantilever beams,an active and passive joint vibration suppression model and control optimization method based on coupling decomposition are proposed.Vibration suppression is achieved by installing a manipulator at the distal head body connection.The manipulator uses active vibration suppression to reduce low-frequency sinusoidal vibration,and uses the passive shock absorber in series to reduce high-frequency random vibration.Based on the vibration equivalence of the head-body connection,the calculation of the active and passive vibration reduction rate based on the vibration reduction factor and the root-mean-square Acceleration is proposed,and the active and passive vibration reduction parameters of the manipulator are obtained according to the high and low frequency switching frequency(10 Hz)and the comprehensive vibration reduction rate(40%).Through the coupling decomposition method,the tandem coupling problem of the cantilever body,the manipulator and its passive shock absorber in the process of active vibration suppression of the manipulator is solved,and the full servo system model of the manipulator under the tandem coupling effect is established.Finally,the servo optimization,vibration suppression feedforward and pole placement are used to improve the dynamic performance of the manipulator.According to the simulation results,the active vibration suppression bandwidth and comprehensive vibration reduction rate of the manipulator meet the vibration suppression requirements,which provides a new method for the vibration reduction of airborne suspensions under full frequency environmental loads.

关 键 词：振动等效 主被动联合抑振 机械手系统抑振模型 控制优化策略 

分 类 号：TG156[金属学及工艺—热处理]