组合机床与自动化加工技术
組閤機床與自動化加工技術
조합궤상여자동화가공기술
MODULAR MACHINE TOOL & AUTOMATIC MANUFACTURING TECHNIQUE
2015年
1期
91-92,96
,共3页
柔性机械臂%振动控制%正位移反馈%速度负反馈%压电
柔性機械臂%振動控製%正位移反饋%速度負反饋%壓電
유성궤계비%진동공제%정위이반궤%속도부반궤%압전
flexible manipulator%vibration control%positive position feedback%direct velocity negative feedback%piezoelectric
柔性机械臂的振动已经严重影响其定位精度和工作效率,为此,以单关节柔性机械臂为研究对象,基于LabVIEW平台和压电技术运用PPF-DVFB的算法来进行柔性机械臂的振动控制。首先介绍了PPF-DVFB算法原理,然后详细地论述了实验过程。实验结果表明,PPF -DVFB算法能有效的控制柔性机械臂的前两阶模态振动,控制效果接近14dB,相对于PPF方法,改善近4.5dB。
柔性機械臂的振動已經嚴重影響其定位精度和工作效率,為此,以單關節柔性機械臂為研究對象,基于LabVIEW平檯和壓電技術運用PPF-DVFB的算法來進行柔性機械臂的振動控製。首先介紹瞭PPF-DVFB算法原理,然後詳細地論述瞭實驗過程。實驗結果錶明,PPF -DVFB算法能有效的控製柔性機械臂的前兩階模態振動,控製效果接近14dB,相對于PPF方法,改善近4.5dB。
유성궤계비적진동이경엄중영향기정위정도화공작효솔,위차,이단관절유성궤계비위연구대상,기우LabVIEW평태화압전기술운용PPF-DVFB적산법래진행유성궤계비적진동공제。수선개소료PPF-DVFB산법원리,연후상세지논술료실험과정。실험결과표명,PPF -DVFB산법능유효적공제유성궤계비적전량계모태진동,공제효과접근14dB,상대우PPF방법,개선근4.5dB。
The positioning accuracy and work efficiency of flexible manipulator is seriously affected by its vibration. Therefore, vibration control of single joint flexible manipulator is studied by using PPF-DVFB al-gorithm based on LabVIEW and piezoelectric technology. Firstly, the PPF-DVFB algorithm principle is in-troduced. Then, the experiment process is discussed in detail. Experimental result shows that PPF-DVFB al-gorithm can effectively control the first two modal vibration of flexible manipulator. The control effect is close to 14 dB and improved nearly 4. 5 dB compared with PPF algorithm.
