一种柔性机械臂旋转运动和振动的主动控制方法

摘要

利用PZT压电作动器和关节力矩控制相结合的方法实现对柔性机械臂旋转运动的控制和机械臂振动的主动控制。压电作动器可以对柔性机械臂的弹性振动进行控制,关节控制力矩使得柔性机械臂在有限时间内到达预定位置。利用Lagrange原理建立了柔性机械臂系统的动力学模型,并设计了相应的PZT压电作动器的控制律和关节控制力矩。对该控制方法进行数值仿真的结果证明：该方法对柔性机械臂振动控制和机械臂旋转运动是有效的。%The PZT material was selected in this paper to control the vibration of flexible manipulator.The inverse piezoelectric effects of the PZT material and the principle of suppressing vibration were introduced.PZT actuators and joint control torque were respectively used to control vibration and rotary motion of flexible manipulator.The flexible manipulator was controlled to achieve the desired position in limited time by joint control torque and manipulator′s vibration was actively controlled by PZT actuators during motion.The dynamic equations of flexible manipulator system were established.PZT actuators control strategy and joint control torque were designed.The numerical simulation results proved the method of the designed PZT actuator control strategy and joint control torque was effective.