CAJ | 학술논문

传统的振动控制系统线路复杂、安装繁琐，不适合远程控制。设计了基于虚拟仪器技术的无线式压电柔性机械臂振动控制实验系统，由压电双杆柔性臂、现场振动控制端以及主控制端三大部分组成。其中AT89S52单片机控制步进电机运动，采用电磁线圈作为传感器检测振动信号，压电元件为作动器，并利用SRWF-1021-50无线模块实现振动控制端与主控制端之间信号的无线传输。结合PID控制算法，设计了无线式振动控制通信协议。采用LabVIEW软件编制控制系统，对整套实验系统进行了调试。结果表明：该系统运行正常，采用的控制算法能有效地抑制柔性臂的振动。
전통적진동공제계통선로복잡、안장번쇄，불괄합원정공제。설계료기우허의의기기술적무선식압전유성궤계비진동공제실험계통，유압전쌍간유성비、현장진동공제단이급주공제단삼대부분조성。기중AT89S52단편궤공제보진전궤운동，채용전자선권작위전감기검측진동신호，압전원건위작동기，병이용SRWF-1021-50무선모괴실현진동공제단여주공제단지간신호적무선전수。결합PID공제산법，설계료무선식진동공제통신협의。채용LabVIEW연건편제공제계통，대정투실험계통진행료조시。결과표명：해계통운행정상，채용적공제산법능유효지억제유성비적진동。
The traditional vibration control system is not suitable for remote control because of complex circuit and troublesome installation. A set of wireless vibration control experiment system based on virtual instrument was designed,which was composed of two-link piezoelectric flexible manipulator,field control terminal and main control terminal. AT89S52 single-chip computer was em-ployed to control stepping motor. Magnetic coils were used as sensor to detect vibration signal,piezoelectric element was served as ac-tuator. SRWF-1021-50 was employed to realize the wireless transmission between the field control terminal and main control terminal. Combining with PID control algorithm,communication protocol of wireless vibration control was developed. Software of the system was programmed by using LabVIEW. The control system was debugged. The experimental results show the system runs normally and the control algorithm can effectively suppress vibration of flexible manipulator.