| 智能机械臂的压电半主动振动控制 |
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| 引用本文： | 潘建禄,季宏丽,郭大蕾,裘进浩. 智能机械臂的压电半主动振动控制[J]. 压电与声光, 2011, 33(6) |
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| 作者姓名： | 潘建禄 季宏丽 郭大蕾 裘进浩 |
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| 作者单位： | 1. 中国科学院自动化研究所,北京,100190
2. 南京航空航天大学飞行器结构力学与控制教育部重点实验室,江苏南京,210016 |
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| 基金项目： | 国家自然科学基金资助项目(50505049); 航空基金资助项目(20091552017); 教育部长江学者创新团队基金资助项目(IRT0906) |
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| 摘 要： | 以在半主动控制领域具有良好应用前景的压电元件为基础,在受控机械臂上粘贴压电陶瓷(PZT)片,运用基于压电分流阻尼的振动被动控制和基于同步开关阻尼(SSD)技术的半主动控制理论,消耗机械臂振动的机械能,减小结构振动的位移幅度,从而达到振动控制的目的.
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| 关 键 词： | 压电陶瓷 压电材料 机械臂 压电分流阻尼系统 同步开关阻尼 |
Piezoelectric Semi-Active Control of Smart Manipulator |
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| PAN Jianlu , JI Hongli , GUO Dalei , QIU Jinghao. Piezoelectric Semi-Active Control of Smart Manipulator[J]. Piezoelectrics & Acoustooptics, 2011, 33(6) |
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| Authors: | PAN Jianlu JI Hongli GUO Dalei QIU Jinghao |
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| Affiliation: | PAN Jianlu1,JI Hongli2,GUO Dalei1,QIU Jinghao2(1.Institute of Automation,Chinese Academy of Sciences,Beijing 100190,China,2.Key Lab.of Aircraft Structural Mechanics and Control of Ministry of Education,Nanjing University of Aeronautics and Astronautics,Nanjing 210016,China) |
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| Abstract: | The piezoelectric(PZT) elements feature the excellent electromechanical coupling characteristics,and now were widely used as sensors and actuators in the field of structural vibration control.This study adopts a passive piezoelectric shunt damp and a semi-active control of synchronous on-off damper to a smart manipulator mounted with piezoelectric ceramics for isolating vibration.The experiments show that the strategies reduce the structural vibration displacement amplitude,and consume the machinery energy ... |
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| Keywords: | piezoelectric element manipulator piezoelectric diffluent damper synchronous on-off damper |
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