基于约束阻尼层的空间柔性机械臂振动抑制方法研究

发布时间：2018-04-01 11:28

本文选题：空间柔性机械臂　切入点：振动抑制　出处：《哈尔滨工业大学》2015年硕士论文

【摘要】：空间机械臂有质量轻、耗能低、空间作业适应性强等诸多优势,在空间操控技术中的应用越来越多。空间机械臂通常情况下为长直杆构型,有跨度较大、直径小、质量轻并且整体刚度小的特点。其柔性在进行动力学建模与控制过程中不可忽略,柔性结构引起的振动问题会降低自身的运动与操作精度,严重的还可能导致空间机械臂失稳或破坏。因此,为保证实现空间操控任务的高精度和高可靠性,深入研究空间柔性机械臂的振动抑制方法十分必要。本文研究了三种针对空间柔性机械臂振动抑制的基本方法:被动振动抑制方法、主动振动抑制方法以及主被动混合式振动抑制方法。被动方法以约束阻尼材料为基础,对其振动抑制的原理,模型的假设和建立,运动学方程和动力学方程的推导以及振动仿真分析进行着重阐述,研究了阻尼层厚度对振动抑制效果的影响;主动方法以压电材料为基础,对其工作原理、模型建立以及仿真分析进行了详尽的论述,同时,对比了主动方法与被动方法在振动抑制效果上的差别;最后,将主动方法以及被动方法结合起来,形成主被动混合式的振动抑制方法,其中,被动部分选取最优构型,将混合式方法的振动仿真效果与前面两种方法进行对比,得到三种方法最终的振动抑制效果孰优孰劣。
[Abstract]:Space manipulator has many advantages, such as light weight, low energy consumption, strong adaptability to space operation and so on.The space manipulator is usually a long straight bar configuration, which has the characteristics of large span, small diameter, light weight and low overall stiffness.Its flexibility can not be ignored in the process of dynamic modeling and control. The vibration problem caused by flexible structure will reduce its own motion and operation precision, and may lead to instability or failure of space manipulator seriously.Therefore, it is necessary to study the vibration suppression method of space flexible manipulator in order to achieve high precision and high reliability.In this paper, three basic methods for vibration suppression of space flexible manipulator are studied: passive vibration suppression method, active vibration suppression method and active and passive hybrid vibration suppression method.The passive method is based on constrained damping material. The principle of vibration suppression, the hypothesis and establishment of model, the derivation of kinematics equation and dynamic equation, and the analysis of vibration simulation are emphasized.The influence of damping layer thickness on vibration suppression effect is studied, the active method is based on piezoelectric material, its working principle, model establishment and simulation analysis are discussed in detail, at the same time,The difference between the active method and the passive method in vibration suppression is compared. Finally, the active method and the passive method are combined to form the active and passive hybrid vibration suppression method, in which the passive part selects the optimal configuration.The vibration simulation results of the hybrid method are compared with those of the former two methods, and the results of the three methods are compared.
【学位授予单位】：哈尔滨工业大学
【学位级别】：硕士
【学位授予年份】：2015
【分类号】：TP241;V414

【参考文献】