压电柔性机械臂的实验辨识及最优极点配置抑振控制

发布时间：2018-11-22 11:16

【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 of piezoelectric flexible arm system and active vibration control based on pole assignment method are studied. A theoretical transfer function model of zero redistribution is proposed for piezoelectric flexible arm systems with strain sensors and piezoelectric actuators. The experimental transfer function model from the input of the piezoelectric actuator control voltage to the output of the strain bridge voltage is established by the frequency domain identification method. The identification model coincides with the actual structure response to 94.8%. It is proved that the identification model is in good agreement with the actual structure by multi-frequency excitation experiment. The expression of the state equation of the system is established by using the identified transfer function model, and a method of determining the position of the closed-loop pole is proposed, which has the shortest moving distance and satisfies the requirement of the closed-loop damping of the system. Numerical simulation and experimental results at different closed-loop poles show the effectiveness of the proposed optimal pole assignment method. The experimental results show that the elastic vibration of the flexible arm induced by specific excitation and external disturbance is effectively suppressed. The proposed model identification method and pole assignment strategy are feasible.
【作者单位】：宁波大学机械工程与力学学院浙江省零件轧制成形技术研究重点实验室;浙江大学机械工程学院浙江省先进制造技术重点实验室;
【基金】：国家自然科学基金(51505238&51375433) 浙江省自然科学基金(LQ15E050002) 宁波市自然科学基金(2015A610145) 浙江省公益项目(2013C31017)
【分类号】：TP241

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