柔性臂振动控制半实物实时仿真系统的研究.docVIP

柔性臂振动控制半实物实时仿真系统的研究 周 摘要：柔性臂运行过程中的振动对其定位和操作精度有很大影响，柔性臂的振动控制研究受到极大重视，但缺乏有效的实时仿真实验平台。在对柔性臂耦合建模及动力学特性研究的基础上，建立双压电智能结构型柔性机械臂系统利用Simulink提供的串行通信模块机械臂与MATLAB工作空间的数据交换，将实际系统建立了实时仿真实验系统。PID控制算法，对整套实验系统进行了实验调试，结果表明系统正常，PID控制算法能有效地抑制机械臂的振动。该平台可用振动控制实验研究与实际系统。关键词：；柔性臂；主动控制；RTWResearch on Hardware-in-the-loop Real-time Simulation System for Vibration Control of Flexible Manipulator Abstract: Precision of positioning and operation were enormously affected by vibration while flexible manipulator was running. The vibration control of flexible manipulator have been studied deeply, however, the effective and uniform real-time simulation platform was lacked. Based on the study of coupled modeling and dynamic characteristics, the two-link piezoelectric smart structure flexible manipulator system was established. The manipulator’s motion was controlled by single-chip microcomputer system and serial communication module that was provided with simulink. The date exchange between manipulator system and the MATLAB workspace was implemented by the data acquisition module, which combined practical system with virtual environment, so as to establish the real-time simulation system of the vibration control of flexible manipulator. The PID control algorithm was adopted to debug the entire experimental system, the results showed that the system can work normally, and the PID control algorithm can also effectively suppress the vibration of flexible manipulator. The platform can be used for vibration control experimental study and the actual system.. Key Words：Real-time Simulation; Flexible Manipulator; Active Control; Real-Time Workshop 引言 高速度、高精度、轻质柔性机械臂具有工作效率高、能量消耗低、载荷质量比大、构件设计紧凑等优点，已广泛应用于航空航天、精密加工、坐标测量等领域。由于柔性结构的模态阻尼小，外扰引起的振动往往很大，且持续时间较长，使得机械臂难以精确定位，降低了工作效率，严重影响了系统的正常工作。柔性臂振动控制研究已经成为国内外的研究热点，目前常采用被动控制、逆动力学以及主动控制等方法，特别是基于压电智能结构的振动控制研究更是受到相关学者的重视。楚中毅等[1]采用双重驱动的抑振策略实现了对2-DOF平面并联压电智能杆型柔性机器人的运动控制。邱志成等[2]建立了基于压电传感器的交流伺服电动机驱动谐波齿轮的柔性梁实验平台。余跃庆等[3]针对含有压电智能结构的柔性机械臂，采用模糊PID融合控制理论实现了主动控制。Timothy等[4]针对高加速水