Vibration measurement and control device and method of rotary flexible hinge beam

Abstract

The invention discloses a vibration measurement and control device and method of a rotary flexible hinge beam. The vibration measurement and control device comprises a flexible hinge beam body portion, a vibration signal detecting portion and a driving control portion. The flexible hinge beam is formed by connecting two beams through a hinge, and a prestretching shape memory alloy wire is arranged between the two beams, and is used for restraining low-frequency large-amplitude bending vibration of the connecting position. A piezoelectric ceramic piece sensor and a piezoelectric ceramic piece driver are pasted on to the front face and the rear face, close to a mechanical tightening device, of the flexible hinge beam respectively, and are used for detecting and restraining the bending vibration of the hinge beam. An acceleration sensor used for detecting vibration is arranged at the tail end of the hinge beam. The device is used for simulating vibration measurement and control over a space flexible joint and a flexible mechanical arm, the sensors and the composite control drivers are adopted, the corresponding control algorithm is operated, and active control over the bending vibration of the rotary hinge flexile beam is achieved.

Description

technical field [0001] The invention relates to the field of vibration control of rotating flexible hinged beams, in particular to a vibration measurement and control device and method for rotating flexible hinged beams. Background technique [0002] Rotating flexible cantilever beams are widely used in practical engineering, mainly in the application of spacecraft flexible joints and flexible manipulators. This model can also be used to simulate aircraft rotating wings and turbine blades. Compared with rigid manipulators, flexible cantilever beams have the advantages of light weight, low energy consumption, high efficiency, and flexible operation. When the flexible attachment is rotated to adjust the attitude or is subjected to external disturbance, it is easy to cause the vibration of the cantilever beam, especially the vibration at the modal frequency of small amplitude at the equilibrium point. If these vibrations cannot be quickly suppressed, the stability of the system...

AI Technical Summary

Problems solved by technology

Compared with rigid manipulators, flexible cantilever beams have the advantages of light weight, low energy consumption, high efficiency, and flexible operation. When the flexible attachment is rotated to adjust the attitude or is subjected to external disturbance, it is easy to cause the vibration of the cantilever beam, especially the vibration at the modal frequency of small amplitude at the equilibrium point. If these vibrations cannot be quickly suppressed, the stability of the system will be affected and pointing accuracy, thereby reducing the reliability of related systems, and even causing catastrophic losses

For aircraft rotating wings and turbine blades, slender and rigid mechanical arms are used. Due to the large external resistance, the inertia is not easy to change. When the rotation starts and stops, it is easy to cause vibration and large impact of the mechanical arm. The vibration suppression is easy to cause the impact of the mechanical arm to break, resulting in economic losses and even safety accidents

Although the research on rotating cantilever beams has received extensive attention at home and abroad, there are relatively few studies on rotating flexible hinged beams, which are essential in practical engineering applications, so the active suppression of vibration of rotating flexible hinged beams Research has become an important topic that is widely concerned and challenging at home and abroad today.

[0003] The piezoelectric ceramic disc driver is used to drive the active control actuator, which has the characteristics of fast response, wide frequency band, good linearity, and easy processing. It is especially suitable for vibration control applications of flexible structures such as spacecraft flexible beams, but its drive displacement Small, unable to make large-scale deformation adjustments

When the vibration caused by rotation and attitude adjustment is actively controlled by AC servo motor drive, by adjusting the rotation speed and torque planning of the start and stop motors, the inertial impact on the mechanical arm can be reduced from the source, and the purpose of suppressing vibration can be achieved. It has the ability to adjust displacement Large, it has a good control effect on large-scale deformation vibration, but due to the long adjustment time of the forward and reverse rotation of the motor, and the lag caused by the harmonic gear reducer, the application has certain limitations

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