Flexible mechanical arm vibration active control method adopting piezoelectric ceramic sheet during soft measurement

Abstract

The invention discloses a flexible mechanical arm vibration active control method adopting a piezoelectric ceramic sheet during soft measurement. The method is characterized in that 1) an acceleration sensor is attached, and then a vibration signal of an end part of a flexible mechanical arm can be achieved; 2) a mathematic model of the flexible mechanical arm system, which is provided with the acceleration sensor on the end part in an attached manner, can be established, and then dynamic characteristics of the system can be achieved; 3) a vibration observation equation can be designed, and the vibration displacement of the flexible mechanical arm can be observed; 4) an optimal vibration observation feedback parameter can be determined based on a global optimization algorithm; 5) a piezoelectric ceramic driving voltage can be controlled by designing a PID controller, and PID control parameters can be adjusted according to the control effect. The design is completed after the above mentioned steps. The flexible mechanical arm vibration active control method is advantageous in that based on the flexible mechanical arm system mathematic model, the vibration observation equation can be established, and the flexible mechanical arm end part vibration signal can be achieved by using the acceleration sensor, and then the observed flexible mechanical arm vibration displacement can be fed back and adjusted, and therefore the vibration signal on any point of the flexible mechanical arm can be achieved, and then the observation precision can be improved effectively.

Description

technical field [0001] The invention relates to an active vibration control method of a flexible mechanical arm using piezoelectric ceramic sheets under soft measurement, and belongs to the technical field of automatic control. Background technique [0002] With the development of modern manufacturing technology in the direction of high precision and high speed, new requirements are put forward for industrial manipulator arms. Compared with the rigid manipulator, the flexible manipulator has the advantages of low energy consumption, fast speed, and large load. However, in the case of high-speed operation and fast positioning of the industrial manipulator, the flexible manipulator has low modal frequency, so it cannot It is easy to generate residual vibration, which seriously affects the motion stability and positioning accuracy of the system; therefore, the active vibration control of flexible manipulators has always been a research hotspot of scholars. [0003] In recent y...

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Problems solved by technology

However, when the sensor is used to measure the vibration displacement of the flexible manipulator, since the piezoelectric ceramic sheet has been pasted as the actuator, the sensor can only obtain the vibration displacement near the piezoelectric actuator, which easily causes control overflow.

[0005] For example, Chinese patent CN201110241149.5 discloses a pneumatically driven two-degree-of-freedom flexible manipulator device and control method. The device uses multiple piezoelectric ceramics as actuators and sensors. The vibration signal near the electric actuator; on the other hand, the method of adding sensors will further affect the dynamic characteristics of the flexible arm such as natural modes, etc., and will complicate the system structure

[0006] In addition, when the piezoelectric ceramic sheet is used to suppress the residual vibration of the flexible manipulator, it is usually necessary to optimize the pasting position of the piezoelectric ceramic sheet, which requires the acquisition of vibration signals at any point on the flexible manipulator, which cannot be done by existing methods Arrived

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