机载悬挂结构体分阶段主被动抑振  

Staged Active and Passive Vibration Suppression of Airborne Suspension Structure

作　　者：蔡赫 王燕波[1] 邓松波[1] 李科[1,2] 陈志鸿 楼云江[2] CAI He;WANG Yanbo;DENG Songbo;LI Ke;CHEN Zhihong;LOU Yunjiang(Laboratory of Aerospace Servo Actuation and Transmission,Beijing Institute of Precision Mechatronics and Controls 100076,Beijing,China;School of Mechanical Engineering and Automation,Harbin Institute of Technology(Shenzhen)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(深圳)机械工程与自动化学院,深圳518055

出　　处：《振动.测试与诊断》2025年第1期10-17,196,共9页Journal of Vibration,Measurement & Diagnosis

基　　金：国家自然科学基金资助项目(U1713202)。

摘　　要：针对机载重型悬臂体的瞬态和稳态抑振问题,提出了基于机械手的主被动分阶段抑振方法。由于机械手动态能力有限,在瞬态阶段,振动时间短振幅大,故采用机械手固定抱夹的被动减振方式;在稳态阶段,振动为周期性小振幅,故采用机械手多臂协同的主动抑振方式。首先,将机械手被动抱夹状态下的悬臂体等效为弹性支撑悬臂梁模型,通过分段构建弹性支撑边界条件,以脉冲激励的形式引入弹性力,获得被动减振模型;其次,在模态空间的基础上得到柔性基础下的振动模型,进一步提出了基于减振因子的主动抑振算法;最后,搭建了小机械手实验平台,将弯矩作为评价减振率的指标。实验结果表明,将主动抑振算法应用到实验平台中,理论与实验的抑振效果仅相差3.4%,验证了主动抑振算法的正确性。A phased active and passive vibration suppression method based on a manipulator is proposed to ad⁃dress the transient and steady-state vibration suppression issues of airborne heavy cantilever bodies.Due to the limited dynamic capability of the manipulator,in the transient phase,the vibration time is short and the ampli⁃tude is large.Therefore,a passive vibration reduction method using the manipulator fixed clamping of the canti⁃lever body is adopted;In the steady-state stage,the vibration is periodic with small amplitude,and an active vi⁃bration suppression method using multi arm cooperation of a manipulator is adopted.Firstly,the cantilever body in the passive clamping state of the manipulator is equivalent to an elastically-supported cantilever beam model.By constructing elastic support boundary conditions in segments and introducing elastic forces in the form of pulse excitation,a passive vibration reduction model is obtained.Secondly,a vibration model under flexible foundation is obtained based on modal space method,and an active vibration suppression algorithm based on damping factors is further proposed.Finally,a small manipulator experimental platform is built,and the bending moment is used as an indicator to evaluate the vibration reduction rate.The experimental results show that apply⁃ing the active vibration suppression algorithm to the experimental platform only result in a 3.4%difference in vi⁃bration suppression effect between the two,verifying the correctness of the active vibration suppression algo⁃rithm.

关 键 词：机械手 被动减振 主动抑振 瞬态和稳态 弹性支撑悬臂梁 

分 类 号：TH113[机械工程—机械设计及理论] V246[航空宇航科学与技术—飞行器设计]