超长柔性臂架回转振动主动控制研究

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振动与冲击 ›› 2016, Vol. 35 ›› Issue (6) : 137-140.

论文

超长柔性臂架回转振动主动控制研究

黄毅1,2，鄂加强1，郭岗2，唐闽艳3，胡伟2

作者信息 +

Active control of slewing vibration in ultra-long flexible boom

HUANG Yi1,2，E Jia-qiang1，GUO Gang2，TANG Min-yan3,HU Wei2

Author information +

文章历史 +

摘要

针对超长柔性臂架回转振动过大问题，结合臂架结构特点基于有限单元法建立臂架回转动力学模型，分析臂架回转系统振动特性。采用模态滤波技术及最优极点配置算法进行主动控制策略设计与理论分析，并搭建主动控制试验系统，进行超长臂架回转振动主动控制试验。试验结果表明，该振动主动控制方法能有效提升受控系统阻尼比(增幅920%)，显著抑制臂架回转振动衰减时间(减幅73%)，振动控制效果明显，不仅对研制更长臂架泵车具有重要的理论及应用价值，且对所有具有超长柔性机械臂高端装备回转振动控制具有重要参考价值。

Abstract

Aiming at severe slewing vibration in ultra-long flexible boom，the mechanism identification and active control of the slewing vibration was considered. Firstly，The simplified dynamical model of slewing boom system was established based on the finite element method，and the slewing characteristics of the model was analyzed. Secondly，The active vibration control method is presented, which combining the algorithms of modal filtering and optimal pole assignment. Finally，The test platform based on NI instrument was implemented and the active vibration control experiment was carried out. The experimental results showed that the damping ratio of the controlled slewing system increase and the slewing vibration of boom tip decrease obviously，which validating the effectiveness of the proposed method.

导出引用

黄毅1,2，鄂加强1，郭岗2，唐闽艳3，胡伟2. 超长柔性臂架回转振动主动控制研究[J]. 振动与冲击, 2016, 35(6): 137-140

HUANG Yi1,2，E Jia-qiang1，GUO Gang2，TANG Min-yan3,HU Wei2. Active control of slewing vibration in ultra-long flexible boom[J]. Journal of Vibration and Shock, 2016, 35(6): 137-140

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