柔顺宏微操作系统动力学建模及振动抑制研究

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摘要针对高速大范围宏运动时柔顺微操作器的微纳振动问题，建立系统动力学模型并设计改进离散滑模控制策略对微观弹性振动进行抑制。首先以气浮宏动平台和压电纤维微操作器构成的宏微操作系统为对象，结合假设模态法、拉格朗日方程和非对称迟滞模型，建立系统综合机电动力学模型。然后，在所建模型基础上设计变速趋近律调节切换增益，从而实现非线性离散滑模控制。最终搭建宏微操作系统测控平台，并进行轨迹跟踪和振动抑制实验。在轨迹跟踪时，对于不同频率的正弦参考轨迹，所设计的控制策略均能精确跟踪给定信号且误差较小；在振动抑制时，当宏动平台沿梯形与S轨迹运动时，微操作器残余振动稳定时间比改进前分别减少26.1%和50.0%，比无控制时分别缩短53.6%和53.3%。验证了动力学模型与离散滑模控制的有效性，提高了系统控制精度与效率。

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	翁寅祥1
	杨依领1
	吴高华1
	崔玉国1
	魏燕定2

关键词 ：宏微操作系统, 动力学建模, 振动抑制, 压电驱动, 滑模控制

Abstract：Regarding the problem of micro-nano vibration of the flexible micromanipulator during high-speed and large-range macro motion, a system dynamics model is established, and an improved discrete sliding mode control strategy is designed to suppress micro-elastic vibration. Firstly, a comprehensive mechatronic dynamics model is established by combining the assumed modal method, Lagrange equation, and asymmetric hysteresis model for the macro-micro manipulation system composed of an air-floating macro-motion platform and a piezoelectric fiber micromanipulator. After that, a discrete sliding mode control strategy with nonlinear adaptive characteristics is implemented by regulating the switching gain with a variable-speed convergence law based on the proposed model. Finally, a measurement and control platform for the macro-micro manipulation system is built, and the trajectory tracking and vibration suppression experiments are conducted. In trajectory tracking, the designed control strategy can accurately track the given signal with minor errors for different frequencies of sinusoidal reference trajectories. During vibration suppression, the residual vibration stabilization time of the micromanipulator was reduced by 26.1% and 50.0% compared to the pre-improvement period when the macro-actuated platform was moving along the trapezoidal versus the S-trajectory and 53.6% and 53.3% compared to the no-control period, respectively. The effectiveness of the dynamics model and discrete sliding mode control is verified, and the control accuracy and efficiency of the system are improved.

Key words： macro-micro manipulator dynamics modeling vibration suppression piezoelectric actuation sliding mode control

收稿日期: 2023-07-04 出版日期: 2024-05-15

引用本文:

翁寅祥1，杨依领1，吴高华1，崔玉国1，魏燕定2. 柔顺宏微操作系统动力学建模及振动抑制研究[J]. 振动与冲击, 2024, 43(9): 69-76.
WENG Yinxiang1, YANG Yiling1, WU Gaohua1, CUI Yuguo1, WEI Yanding2. Dynamic modeling and vibration suppression of flexible macro-micro manipulator system. JOURNAL OF VIBRATION AND SHOCK, 2024, 43(9): 69-76.

链接本文:

http://jvs.sjtu.edu.cn/CN/ 或 http://jvs.sjtu.edu.cn/CN/Y2024/V43/I9/69

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