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基于复合喷气压电驱动器的柔性机械臂振动控制
Alternative TitleVibration Control for Flexible Manipulator Based on the Combining of Jet Thruster and Piezoelectric Actuators
邱志成; 韩建达; 王越超
Department机器人学研究室
Source Publication机械工程学报
ISSN0577-6686
2009
Volume45Issue:5Pages:184-192
Indexed ByEI ; CSCD
EI Accession number20092712164116
CSCD IDCSCD:3616218
Contribution Rank2
Funding Organization国家自然科学基金(60404020); 国家自然科学基金空天飞行器重大研究计划(90505014); 机器人学国家重点实验室基金(RLO200805)资助项目
Keyword柔性机械臂 振动控制 喷气式驱动 压电驱动 复合控制
Abstract空间机器人和大型柔性空间结构在航天器调姿、变轨、外部扰动的情况下将引起振动问题,其低频大幅值振动将持续很长时间,这将影响航天器系统的稳定性和控制精度。为了快速抑制低频大幅值振动及残余振动,提出采用复合可控反作用力幅值的喷气式驱动和压电陶瓷驱动方案进行振动控制。进行基于复合控制的柔性臂系统动力学建模并给出控制算法。设计并建立柔性机械臂试验平台,构建气动驱动控制回路及压电驱动控制回路。进行基于压电陶瓷驱动器、喷气式驱动器及复合喷气和压电驱动器的柔性臂大幅值低频模态振动控制的几种方法试验比较研究。试验结果表明,采用的控制方案和方法既可以快速地抑制柔性机械臂统的低频大幅值振动,又明显地同时抑制高频和低频小幅值残余振动。
Other AbstractThe vibration problem of space robot and large flexible spacecrafts’ structures will be caused due to attitude or oribit maneuvering, and external disturbance. The low frequency large amplitude vibration will last for a long time, which will affect the stability and control accuracy of the spacecraft system. To suppress the low frequency large amplitude vibration and residual vibration quickly, the combined method of controlled force jet thrusters actuating and piezoelectric driving for vibration control is...
Language中文
Citation statistics
Document Type期刊论文
Identifierhttp://ir.sia.cn/handle/173321/2358
Collection机器人学研究室
Corresponding Author邱志成
Affiliation1.华南理工大学机械与汽车工程学院
2.中国科学院沈阳自动化研究所机器人学国家重点实验室
Recommended Citation
GB/T 7714
邱志成,韩建达,王越超. 基于复合喷气压电驱动器的柔性机械臂振动控制[J]. 机械工程学报,2009,45(5):184-192.
APA 邱志成,韩建达,&王越超.(2009).基于复合喷气压电驱动器的柔性机械臂振动控制.机械工程学报,45(5),184-192.
MLA 邱志成,et al."基于复合喷气压电驱动器的柔性机械臂振动控制".机械工程学报 45.5(2009):184-192.
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