撓性旋轉連桿之主動性振動控制

Active Vibration Control of a Flexible Slewing Link

郭中豐 ； 黃義順

《中華民國振動與噪音工程學會論文集》 1996 (1996/04) Pp. 319-334

https://doi.org/10.30028/CSSVANNUAL.199604.0319

摘要

本文係對單一撓性旋轉連桿分散式參數系統作動態分析與控制系統設計之研究，以達到撓性旋轉連桿之定位控制；即在設計單一撓性旋轉連桿的控制器，除須控制其剛體模態，而且必須抑制其撓性模態之振動行爲，以達成系統穩定性與精確性的要求。
首先，以Hamilton原理得到系統非線性動態方程式，經線性化和Laplace Transform而求出系統Open-loop轉移函數中精確的極零點位置，再據以根軌跡法分析及設計出適當的控制器及其參數。然後利用假設模態法(Assumed-mode method)導出分離化後對時間相依函數之二階常微分方程式，再使用Runge-Kutta數值分析法，求得所設計之各控制器作用下的系統暫態響應結果，本文所設計之控制器對本機構系統在馬達啓動時所存在的干擾也能有效的消除，確實達到撓性旋轉連桿速度快，準確度高等特性之要求。

並列摘要

A flexible slewing link with an end-effector includes infinite dimensional vibration modes and the crucial problem is how to eliminate the all vibration modes. The objective of this project is not only to achieve the system good stability but also want to make the current robot arm faster, lighter and more accurate.
First, the equations of motion of the flexible slewing link is derived from Hamilton principle. Then, the transce-dental transfer function is obtained from the actuator and sensor's locations. The augmented root-locus is used to analyze the exact infinite dimensional pole and zero positions. Next, in order to find the result of the distributed parameter system, the Assumed-mode method is adopted and a very reasonable number of modes of the system is selected for computer simulations.
It can be seen that the designed controller not only can reduce the steady-state errors, but also reduce the effects of disturbance of the system.

並列關鍵字

Vibration Control