Vibration control method for rigid-flexible coupling electromechanical servo system

Abstract

The invention discloses a vibration control method for a rigid-flexible coupling electromechanical servo system. The vibration control method comprises the steps of separately collecting encoder dataon a drive motor and a load motor, acquiring torsion angles of two ends of a flexible shaft rod, computing the torsion angle of a micro unit located at any position of the flexible shaft rod, and computing a frequency domain characteristic equation according to the length, polar moment of inertia, elasticity modulus and rotational inertia of the flexible shaft rod; by using the frequency domain characteristic equation, computing a coupling torque between the flexible shaft rod and a rigid driving flywheel; building a rigid driving flywheel balance equation; putting the coupling torque into thebalance equation to acquire a frictional order transfer function model of the system; and according to the frictional order transfer function model, building a fractional order controller, and controlling the vibration of the system by using the controller. According to the method provided by the invention, the dynamic behaviors of the viscous-elastic material is accurately described via the frictional order model, and the residual vibration of the system is effectively suppressed.

Description

technical field [0001] The invention relates to the technical field of power and transmission, in particular to a vibration control method of a rigid-flexible coupling electromechanical servo system. Background technique [0002] Rigid-flexible coupled electromechanical servo systems are widely used in aerospace, machinery manufacturing, robotics and other industrial fields. The system consists of drive motor and encoder, conveyor belt, rigid drive flywheel, flexible shaft, rigid load flywheel, load motor and encoder. In order to improve the system response speed and reduce power consumption, the flexible shaft is made of light and flexible viscoelastic material, and then forms an electromechanical servo system in which the rigid flywheel and the flexible shaft are coupled to each other. The existence of the flexible structure will cause the system to produce continuous residual vibration after the servo control ends, weakening the servo control accuracy, and even endangeri...

AI Technical Summary

Problems solved by technology

[0003] The purpose of the present invention is to provide a vibration control method of a rigid-flexible coupling electromechanical servo system, so as to solve the problem that the vibration control method in the prior art cannot accurately describe the dynamics of light and flexible materials such as viscoelastic materials and carbon nanocomposites. Continuous residual vibration after behavior and servo control ends

Images