压电柔性机械臂的实验辨识及最优极点配置抑振控制

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振动与冲击 ›› 2017, Vol. 36 ›› Issue (16) : 18-25.

论文

娄军强1, 廖江江1, 李国平1, 杨依领2, 魏燕定2

作者信息 +

Experimental Identification and Vibration Suppression of a Piezoelectric Flexible Manipulator Using Optimal Poles Assignment Method

Lou Junqiang1, Liao Jiangjiang1, Li Guoping1, Yang Yiling2, Wei Yanding2

Author information +

文章历史 +

摘要

研究了压电柔性臂系统的实验辨识和基于极点配置法的振动主动控制问题。针对粘贴应变传感器和压电致动器的压电柔性臂系统，提出了零点重新分布的理论传递函数模型。通过扫频实验采用频域辨识方法确立了从压电致动器控制电压输入到应变桥路电压输出的实验传递函数模型，辨识模型与实际结构响应吻合程度达94.8%。并通过多频激励实验证实了辨识模型与实际结构具有较高的一致性。利用辨识得到的传递函数模型建立了系统状态方程表达式，提出了一种移动距离最短、满足系统闭环阻尼要求的闭环极点位置确立方法。不同闭环极点下的数值仿真和实验结果均证明了采用的最优极点配置方法的有效性。实验结果表明：柔性臂在特定激励和外界干扰激励下产生的弹性振动均得到了有效抑制。所提出的模型辨识方法和极点配置策略是可行的。

Abstract

Experimental identification and active vibration suppression of a piezoelectric flexible manipulator system using poles assignment control are presented in this paper. A transfer function model with relocated zeros is developed for the flexible manipulator bonded with strain sensors and piezoelectric actuator. The mathematical model between the input voltage of the piezoelectric actuator and the output voltage of the strain sensors is established through sweep excitation, the fitness can achieve up to 94.8%. Furthermore, the close coincidence between the identified model and the experimental system is verified through a multi-frequency signal excitation. Then, state equations of the flexible manipulator system are derived. A poles assignment method with the characteristics of the shortest displacement distance and desired close-loop damping ratio is proposed. The effectiveness of the proposed control method is validated by simulation and experiments with different locations of closed-loop poles. Experimental results show that elastic vibrations of the link caused by the sweep and external disturbance excitation are effectively suppressed using the poles assignment controller. Consequently, the proposed method of experimental identification and poles assignment control is feasible and effective.

导出引用

娄军强1, 廖江江1, 李国平1, 杨依领2, 魏燕定2. 压电柔性机械臂的实验辨识及最优极点配置抑振控制[J]. 振动与冲击, 2017, 36(16): 18-25

Lou Junqiang1, Liao Jiangjiang1, Li Guoping1, Yang Yiling2, Wei Yanding2. Experimental Identification and Vibration Suppression of a Piezoelectric Flexible Manipulator Using Optimal Poles Assignment Method[J]. Journal of Vibration and Shock, 2017, 36(16): 18-25

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