摘要
以改善柔性并联机构动态性能为目的,提出了机构弹性振动主动控制的策略。利用有限元方法建立机构微分运动方程,研究机构在主动力和惯性力激励下的动力响应,量化了动平台的运动误差。针对柔性构件瞬时振动的型态提出了相应的控制策略,给出了控制器参考结构,建立了机构系统弹性振动主动控制的状态空间模型。兼顾系统对响应速度和控制能量的要求,提出衡量控制品质优劣的泛函型性能指标,实现了机构弹性振动的最优控制,较大幅度的降低了机构弹性振动的水平,提高了动平台的运动精度。控制能量变化平稳、幅值小,容易满足控制器对能量大小和响应速度的限制条件。
In order to improve the dynamic performance of flexible parallel mechanism,active control measures was proposed.The differential equation of motion was established based on finite element method,the dynamic response which was excited by active force and inertial force was researched,motion error of the moving platform was quantified.The control strategies were proposed to transient vibration pattern of the flexible components,controller reference structure was given,and state space model of the active control of elastic vibration was established.In terms of system response speed and control energy,performance index of functional type was given which used measure the merits of quality control,optimal active control of elastic vibration was realized,the level of the elastic vibration could be reduced significantly,motion accuracy of the moving platform was improved.The amplitude of control energy is small,easy to satisfy the restrictions of the controller to both of energy and response speed.
出处
《系统仿真学报》
CAS
CSCD
北大核心
2011年第3期588-592,共5页
Journal of System Simulation
基金
973计划项目(2009CB724406)
陕西省教育厅专项科研计划项目(09JK327)
关键词
并联机构
弹性振动
有限元
振动主动控制
最优控制
parallel mechanism
elastic vibration
finite element
active control
optimal control
