| 基于压电模糊控制的2R柔性机械臂主动抑振实验研究 |
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| 引用本文： | 单业涛,余跃庆,王浩.基于压电模糊控制的2R柔性机械臂主动抑振实验研究[J].机械设计与制造,2009(2). |
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| 作者姓名： | 单业涛 余跃庆 王浩 |
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| 作者单位： | 北京工业大学机电学院,北京,100022 |
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| 基金项目： | 国家自然科学基金，北京市自然科学基金 |
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| 摘 要： | 柔性机械臂在运动过程中不可避免产生弹性振动,对柔性机械臂的振动抑制成为重要研究课题.基于压电陶瓷的模糊控制抑振,利用电阻应变传感器检测机械臂振动信息,经动态应变仪采集到计算机系统,根据控制规律进行模糊运算,得到控制电压,再以该电压驱动压电陶瓷片,产生与振动方向相反控制力矩,抑制机械臂柔性变形.实验结果显示,模糊控制方法可靠,压电抑振效果显著.
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| 关 键 词： | 柔性机械臂 压电陶瓷 模糊控制 抑振 |
Experimental study of fuzzy control for vibration suppression of dual-flexible manipulation basing on PZT |
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| SHAN Ye-tao,YU Yue-qing,WANG Hao.Experimental study of fuzzy control for vibration suppression of dual-flexible manipulation basing on PZT[J].Machinery Design & Manufacture,2009(2). |
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| Authors: | SHAN Ye-tao YU Yue-qing WANG Hao |
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| Affiliation: | Dept.of Mechanical Engineering & Applied Electronics Technology;Beijing University of Technology;Beijing 100022;China |
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| Abstract: | Elastic vibration is inevitably caused during movement of flexible arms,so the vibration suppression has become an important topic.For a vibration suppression system basing on PZT and fuzzy control theory,vibration information can be detected using resistance strain sensor and collected into computer system through dynamic strain-gauge,then fuzzy operation is carried out according to fuzzy control laws,following that control voltage is determined.Finally,the PZT is driven with the voltage to produce a contr... |
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| Keywords: | Flexible arm PZT Fuzzy control Vibration suppression |
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