Variable load flexible cantilever beam vibration active control experiment system and experiment method

Abstract

The invention relates to a variable load flexible cantilever beam vibration active control experiment system and experiment method. The system comprises a base, a cantilever beam, a load mass block, four actuating piezoelectric fiber sheets, two sensing piezoelectric fiber sheets, a multi-channel piezoelectric driving power amplifier, two charge amplifiers, an AD acquisition card, a DA output cardand two computers. Disturbance piezoelectric fiber sheets are actuated for simulating vibration of the cantilever beam subjected to external disturbance. The sensing piezoelectric fiber sheets collect a vibration signal of the cantilever beam; the computers perform calculation according to corresponding control strategies to generate an expected control signal; and the control signal is amplifiedby the piezoelectric driving power amplifier and is output to vibration suppression piezoelectric fiber sheets, so that the purpose of actively eliminating or reducing vibration response of the cantilever beam is achieved. The experimental system and method can provide an experimental verification implementation means for a vibration active control method of the flexible cantilever beam, and provide a technical implementation support for exploring further practical application of related control theory methods.

Description

technical field [0001] The invention belongs to the field of active vibration control and vibration reduction, and in particular relates to an experimental system and an experimental method for active vibration control of a variable-load flexible cantilever beam. Background technique [0002] With the improvement of my country's comprehensive national strength and the increasing demand for economic transformation and development, my country's space station construction and moon landing projects have been carried out in an orderly manner, and the aerospace industry and high-precision mechanical engineering have developed rapidly. At present, with the introduction of a large number of lightweight materials and the increasing requirements for system stability and control accuracy, more and more flexible manipulators composed of several flexible components have begun to be applied to high-precision industries and aerospace fields. [0003] However, due to the complex dynamics of...

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Problems solved by technology

[0006] In industrial practice and aerospace tasks, the load of the manipulator cannot be constant in many cases, and the failure of some joints of the multi-degree-of-freedom manipulator will also cause a sudden change in the model of the flexible manipulator, resulting in control failure and resulting Serious Consequences of Control Divergence

The current control strategy based on a single precise model is difficult to be directly applied to the actual manipulator control engineering, and it is difficult to cover the entire working domain with robust control and sliding mode control considering model uncertainty.

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