The Transient Response And It’s Suppression Of Flexible Manipulator Impact Vibration

With the development of science and technology, flexible manipulator has been widelyused in aerospace, advanced manufacturing, precision machining and positioning, etc. Due tothe advantages of light weight, low power consumption, high precision, payload mass ratio,the study on flexible manipulator become a frontier and hot spot in recent years. In thepractical application process, the flexible arm positioning accuracy requirements increasinglystringent in modern industry. The structure’s elastic vibration is the main obstacle whicheffects its practical application, especially when flexible manipulator impact load effect, notonly increases the manipulator end motion error, but also cause mechanical arm damage.Therefore, this paper mainly aims at the piezoelectric flexible manipulator impact of vibrationand its inhibition method on the moment of piezoelectric powered on.Taking single-link flexible manipulator and two-link flexible manipulator as the researchobject, piezoelectric ceramic driver is separated as a subsystem of the flexible system, coupledkinetic equations are derived by the assumed mode method and Lagrange equations. On thisbasis, considering the impact of transient role, a flexible manipulator rigid-flexible couplingimpact kinetic model is established, and the single-link flexible manipulator and two-linkflexible manipulator rigid-flexible-electrical coupling impact dynamics are researched.Using MATLAB software to simulate and analyze the internal frequency components of theflexible manipulator system when piezoelectric powered on, the simulation results verify thecorrectness of the impact model.The difference of standard PID control and incomplete differential PID control areanalyzed, and the advantages of the incomplete differential PID control in the systems wheninputs have step excitation is pointed out. Based on Simulink platform, using two kinds ofcontrol algorithm for single-link flexible manipulator and two-link piezoelectric flexiblemanipulator impact vibration active control, the simulation results shows that the incompletedifferential form PID controller effectively to instant impact vibration suppression, and it hasobvious advantages on the control performance and adaptability.Based on real-time control platform in which industrial computer as the core of theflexible manipulator, the single-link flexible manipulator and two-link flexible manipulatorimpact vibration suppression experiment which caused by the piezoelectric are researched.Using piezoelectric ceramic chip as sensors and actuators, compares the two kinds ofvibration suppression method of vibration suppression characteristics, experimental resultsproved that the control method reasonable and effectiveness.In this paper, we discuss it from the flexible manipulator system when the piezoelectric element powered, and the impact of piezoelectric flexible manipulator and the transientimpact response are discussed. The research include single and two-link flexible manipulatorinstant impact dynamics modeling and simulation, choice of the vibration control algorithm,impact vibration experiment research and so on. This paper lays a foundation for the researchof flexible manipulator system accurate positioning and trajectory tracking.