论文部分内容阅读
为了抑制大型双连杆液压柔性机械臂末端振动,以重载上、下料液压柔性机械手臂为研究对象,针对机械臂在运动过程中末端振动的现象,通过伺服液压系统-Euler Bernoulli梁模型、Lagrange方程和Jacobian矩阵,设计一种基于压电反馈驱动系统控制方法,利用机械臂末端搭载的压电敏感传输器、压电驱动器和反演控制设计方法,研究伺服液压缸运动振颤、液压缸与机械臂关节卡顿和机械臂杆件弹性振动对液压柔性机械臂末端振动的影响规律。仿真结果表明,该抑振控制方法稳定性较好,针对液压柔性机械臂能显著减小末端振动,缩短振动衰减时间,定位精度得到明显改善。
In order to restrain the vibration of the end of a large double-link hydraulic flexible manipulator, a hydraulic manipulator with overloaded and unloaded hydraulic arms is taken as the research object. According to the phenomenon that the end of the manipulator vibrates during the movement, Lagrange equation and Jacobian matrix, a control method based on piezoelectric feedback drive system is designed. Based on the piezoelectric transducer, piezo actuator and backstepping control design of the end of the manipulator, the motion of the servo cylinder is studied. The hydraulic cylinder And the law of the influence of the elastic vibration of the joints of the manipulator on the end vibration of the hydraulic flexible manipulator. The simulation results show that the vibration control method has a good stability. For the hydraulic flexible manipulator, the tip vibration can be significantly reduced and the vibration decay time can be shortened, and the positioning accuracy can be obviously improved.