Flexible mechanical arm main resonance control method based on nonlinear feedback and time delay feedback
By adopting the control method of nonlinear feedback and time-delay feedback in the flexible robot arm, the control signal model of the vibration absorber is constructed, which solves the problem of main resonance suppression of the flexible robot arm, and realizes more effective vibration control and wider vibration reduction frequency band.
CN119658671AActive Publication Date: 2025-03-21BEIHANG UNIV
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Patent Information
- Application Number
- CN202411238831.2
- Authority / Receiving Office
- CN · China
- Patent Type
- Applications(China)
- Current Assignee / Owner
- Filing Date
- 2024-09-05
- Publication Date
- 2025-03-21
- Estimated Expiration
- 2044-09-05
AI Technical Summary
Technical Problem
The prior art is difficult to effectively suppress the main resonance of the flexible robot arm, resulting in large vibrations and structural failure.
Method used
Using a control method based on nonlinear feedback and time-delay feedback, by constructing a controllable nonlinear coupling term and introducing time-delay feedback term, a control signal model of the vibration absorber is constructed, and the energy transfer between the flexible robot arm and the main resonant vibration absorber is realized, and the time to enter the saturation state is shortened.
Benefits of technology
Effectively suppress the main resonance of the flexible robot arm, reduce the saturation amplitude, widen the vibration reduction frequency band, and improve system stability.
✦ Generated by Eureka AI based on patent content.
Abstract
The invention discloses a flexible mechanical arm main resonance control method based on nonlinear feedback and time delay feedback, and the method mainly comprises the steps: carrying out the discretization of the transverse deformation of a flexible mechanical arm through employing a hypothesis modal method, and obtaining a vibration equation of the flexible mechanical arm; a linear feedback control item, a nonlinear feedback control item and a time-delay feedback control item are introduced to form a control signal model of the vibration absorber. Constructing a vibration absorber control signal model; a Kane equation is used for establishing a flexible mechanical arm system vibration control model including the vibration absorber; solving an approximate analytic solution of the system vibration equation by applying a multi-scale method to obtain a single-mode solution and a dual-mode solution of the system steady-state response; and finally, under the coexistence state of the internal resonance condition and the main resonance condition of the flexible mechanical arm system in which the vibration absorber is included, the main resonance of the flexible mechanical arm is controlled, and the modal amplitude of the first-order modal of the main resonance of the flexible mechanical arm is well inhibited.
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