传感技术学报2016，Vol.29Issue(7)：1016-1020,5.DOI:10.3969/j.issn.1004-1699.2016.07.012
基于压电陶瓷的柔性机器人主动抑振控制策略研究
Active Vibration Control of a Flexible Manipulator Using Piezoelectric Patches
摘要
Abstract
Flexible manipulators have been widely used because of its light weight,low power consumption and high efficient. However,lightweight structures result in unwanted vibration,which pose system into a low working accura⁃cy. Suppression methods are used to improve performance of the flexible manipulators. An active control method based on PZT patches for flexible manipulator was proposed. A PZT sensor was used to detect the vibration. Mean⁃while,a PZT actuator was used to suppress the vibration. A theoretical model of single freedom flexible manipulator with PZT patches was set up. The transfer function of the sensor voltage and actuator voltage was obtained. A change⁃able controller was designed to suppress the vibration at different frequencies. The vibration suppression efficiency of the above system was numerical simulated in COMSOL. Some conclusions can be obtained based on simulation re⁃sults,such as 57.04%,57.76% and 58.96% reduction of the tip displacement of the beam,57.95%,71.19% and 87.81%suppression of total kinetic energy of the system can be realized at the three different frequencies respectively.关键词
柔性机器人/压电片/主动振动抑制/传递函数Key words
flexible manipulator/piezoelectric patches/active vibration control/transfer function分类
信息技术与安全科学引用本文复制引用
王海,薛彬,杨春来,付邦晨,邱皖群..基于压电陶瓷的柔性机器人主动抑振控制策略研究[J].传感技术学报,2016,29(7):1016-1020,5.基金项目
国家自然科学基金项目 （）
