摘要
针对柔顺宏微操作器中的微纳振动问题,在使用假设模态法和拉格朗日方程建立系统整体动力学模型的基础上,以多项式函数作为宏运动轨迹的基准曲线,并采用柔顺部分综合等效激振力矩最小和弹性振动能量最小构造优化准则,提出一种最优抑振轨迹规划方法。优化后的轨迹可以同时减少系统运动过程中的强迫振动以及运动结束后的残余振动,综合考虑全局弹性振动。最后通过遗传算法进行数值计算得到系统最优抑振轨迹,并搭建实验测控平台进行验证。实验结果表明:与跟踪常规多项式轨迹相比,柔顺微操作器在系统运动过程中的弹性振动幅值降低15.5%,系统运动结束后的弹性振动幅值减少52.2%,残余振动衰减时间缩短56.4%,改善了宏微操作器系统的全局操控稳定性,并提高了系统定位精度。
To deal with the micro-nano vibration problem in the flexure-based macro-micro manipulator,the overall dynamic system model is firstly derived using the assumed mode method and the Lagrange equation.Then,the polynomial functions are selected as the basic curve of the macro motion trajectory,and optimization criterions minimizing the equivalent comprehensive excitation torques and elastic vibration energy are used.Thus,the optimal trajectory planning for vibration suppression is proposed based on the system model and the optimization criterions.The optimized trajectory can reduce the forced vibration during the system motion and the residual vibration after the motion simultaneously.Moreover,the global elastic vibration for the macro-micro manipulator is considered.Finally,the optimal vibration suppression trajectory of the system is obtained by using the genetic algorithm and the experimental platform is established to verify its effectiveness.The experimental results demonstrate that the elastic vibration amplitude during the system motion is reduced by 15.5%compared with the conventional polynomial trajectory.Meanwhile,the residual vibration amplitude after the system motion is decreased by 52.2%and the settling time is shortened by 56.3%.Therefore,both the global control stability and the positioning accuracy of the macro-micro manipulator system are improved.
作者
陈特欢
杨依领
吴高华
赵晓伟
魏燕定
CHEN Te-huan;YANG Yi-ling;WU Gao-hua;ZHAO Xiao-wei;WEI Yan-ding(Faculty of Mechanical Engineering and Mechanics,Ningbo University,Ningbo 315211,China;Key Laboratory of Advanced Manufacturing Technology of Zhejiang Province,School of Mechanical Engineering,Zhejiang University,Hangzhou 310027,China)
出处
《振动工程学报》
EI
CSCD
北大核心
2018年第4期611-619,共9页
Journal of Vibration Engineering
基金
国家自然科学基金资助项目(51375433
61703217)
浙江省自然科学基金资助项目(LQ18E050003)
浙江省教育厅科研项目(Y201737055)
宁波大学科研基金资助项目(XYL17008)
关键词
振动控制
宏微操作器
柔顺机构
轨迹规划
动力学建模
vibration control
macro-micro manipulator
compliant mechanism
trajectory planning
dynamic modeling
作者简介
陈特欢(1988—)男,讲师。电话:(0574)87600830;E-mail:chentehuan@nb u.edu.cn。;通讯作者:杨依领(1987—)男,讲师。E-mail:yangyiling@nbu.edu.cn。
