基于索驱动的大型柔性结构振动抑制策略研究
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摘要
柔性索并联机构具有工作空间大、能耗低和惯量小等优点,适用于长距离柔性桁架结构的振动主动抑制。首先提出一种四索驱动的柔性体抑振并联机构,根据闭环矢量原理和机构的几何特征,对四索并联机构进行运动学分析。接着建立四索并联机构的静力学模型,并将超长尺度柔性桁架机构的往复振动简化为梁的弯曲振动,利用振型叠加法求解外部激励作用下的强迫响应。最后针对超长尺度柔性桁架机构的振动抑制问题,提出一种基于模糊控制与PID控制相结合的控制策略,通过仿真验证所提控制策略的有效性。结果表明,所设计的柔索并联抑振系统具有明显的抑振效果,柔性桁架的振幅与振动衰减时间大幅降低,且系统的四索索力值能够在合适范围内变化。
With the benefits of large workspace, low energy consumption and small inertia, a flexible cable-driven parallel robot(CDPR) is suitable for vibration suppression of long-size flexible truss mechanism. A flexible cable-driven parallel mechanism used for vibration attenuation of large-size flexible truss is presented. Kinematics and static model of the CDPR is analyzed by principle of closed loop vector and geometric characteristic of mechanism. The long-size flexible truss is simplified as a beam, and the mode superposition method is used to solve the forced response under external excitation. Vibration suppression of the long-size flexible structure with model uncertainties are considered. A control strategy based on fuzzy and PID control scheme is proposed. The simulation results show that the presented system have great affection on the vibration suppression of the long-size flexible truss,whose amplitude and vibration decay time are significantly reduced. In addition, four cable tension values can be changed within a suitable range.
With the benefits of large workspace, low energy consumption and small inertia, a flexible cable-driven parallel robot(CDPR) is suitable for vibration suppression of long-size flexible truss mechanism. A flexible cable-driven parallel mechanism used for vibration attenuation of large-size flexible truss is presented. Kinematics and static model of the CDPR is analyzed by principle of closed loop vector and geometric characteristic of mechanism. The long-size flexible truss is simplified as a beam, and the mode superposition method is used to solve the forced response under external excitation. Vibration suppression of the long-size flexible structure with model uncertainties are considered. A control strategy based on fuzzy and PID control scheme is proposed. The simulation results show that the presented system have great affection on the vibration suppression of the long-size flexible truss,whose amplitude and vibration decay time are significantly reduced. In addition, four cable tension values can be changed within a suitable range.
引文
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[3]MALEKZADEH M,KARIMPOUR H.Adaptive super twisting vibration control of a flexible spacecraft with state rate estimation[J].Journal of Sound and Vibration,2018,422:300-317.
[4]JAMSHIDIFAR H,KHOSRAVANI S,FIDAN B,et al.Vibration decoupled modeling and robust control of redundant cable-driven parallel robots[J].IEEE/ASMETransactions on Mechatronics,2018,23(2):690-701.
[5]JI N,LIU J.Vibration control for a flexible satellite with input constraint based on Nussbaum function via back stepping method[J].Aerospace Science&Technology,2018,77:563-572.
[6]陶佳伟,张涛.控制受限的挠性航天器姿态机动控制和振动抑制[J].电机与控制学报,2018(3):105-113.TAO Jiawei,ZHANG Tao.Robust adaptive attitude maneuvering and vibration reducing control of flexible spacecraft with input saturation[J].Electric Machines and Control,2018(3):105-113.
[7]许建国,邵康,张静静.空间桁架结构的优化配置及振动控制研究[J].计算机测量与控制,2016,24(3):67-70.XU Jianguo,SHAO Kang,ZHANG Jingjing.Research on optimal allocation and vibration control of space truss structure[J].Computer Measurement&Control,2016,24(3):67-70.
[8]张金龙,卢少波,时军委.驱动激励下的柔性太阳翼系统振动及抑制研究[J].载人航天,2017,23(4):487-492.ZHANG Jinlong,LU Shaobo,SHI Junwei.Research on vibration and its attenuation of flexible solar array induced by sun-tracking driving[J].Manned Spaceflight,2017,23(4):487-492.
[9]姚蕊,唐晓强,汪劲松.射电望远镜馈源支撑系统索力特性研究[J].自然科学进展,2009,19(11):1221-1229.YAO Rui,TANG Xiaoqiang,WANG Jinsong.Cable tension analysis and optimization of radio telescope feed support system[J].Progress in Natural Science,2009,19(11):1221-1229.
[10]LAPIDUS S G.The factors to be considered in the correct cable for variable frequency drive applications on cranes[C]//Industry Applications Conference,1998.Thirty-Third IAS Annual Meeting.IEEE,1998:2257-2262.
[11]CONG B P,SONG H Y,YANG G.Tension analysis of cable-driven parallel mechanisms[C]//International Conference on Intelligent Robots and Systems,IEEE,2005:257-262.
[12]HILLER M,FANG S,MIELCZAREK S,et al.Design,analysis and realization of tendon-based parallel manipulators[J].Mechanism&Machine Theory,2005,40(4):429-445.
[13]TANG X,YAO R.Dimensional design on the six-cable driven parallel manipulator of FAST[J].Journal of Mechanical Design,2011,133(11):111012.
[14]唐乐为,唐晓强,汪劲松,等.七索并联对接机构作业空间分析及索力优化设计[J].机械工程学报,2012,48(21):1-7.TANG Lewei,TANG Xiaoqiang,WANG Jinsong,et al.Workspace analysis and tension optimization design in docking parallel mechanism driven by seven cables[J].Journal of Mechanical Engineering,2012,48(21):1-7.
[15]张义民.机械振动学基础[M].北京:清华大学出版社,2007.ZHANG Yimin.Mechanical vibration[M].Beijing:Tsinghua University Press,2007.
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