Research On Vibration Modal Parameter Identification And Time Delay Compensation Control For Flexible Manipulator

With the development of science and technology, flexible component is increasingly used in engineering, such as satellite panels, space manipulator, industrial mechanical arm, etc. And the accuracy requirement of the running for the flexible structure is also getting higher and higher. Because of the vibration damping of large deflection structure is small, and it is vulnerable to disturbance for vibration, analyze its dynamic characteristics and design effective control method to control the vibration of flexible manipulator is a tendency. In process control, the controlled object often be discovered exists in pure lag, leading to ineffective control. In order to improve the control effect of time delay systems, time delay to control system need to be compensated.The thesis takes single flexible manipulator as a research object, and mainly focuses on identify vibration parameter, active vibration control and delay compensation control by using piezoelectric actuator. The main contents are as follows:Use independent component analysis (ICA) algorithm to identify vibration modal parameter for flexible manipulator system. The ICA program written in LabVIEW software to analyze vibration signal for identify vibration modal parameter so that the system modal model be constructed. Comparison of modal parameter identification results between ICA vibration signal processing and doesn’t deal with vibration signal shows that the ICA has better ability to signal separation and vibration modal parameter identification.Use linear quadratic gaussian (LQG) algorithm based on kalman filter for active vibration control of flexible manipulator. Determine the sensor and actuator configuration scheme of flexible manipulator, and set up piezoelectric flexible manipulator control experiment system in NI CRIO real time control platform. According to the flexible manipulator model used in this paper, using LabVIEW software write control program for active vibration control program, and do vibration control experiments of flexible manipulator. The experimental results show that LQG algorithm based on Kalman filter is able to achieve effective vibration suppression of flexible manipulator.Study compensation for the time delay problem of active vibration controls. A brief introduction about stability of the second order time delay system, observe phase difference between sensor signals and control signals by use of lissajous figures, and make a preliminary estimate. Compensate time delay for LQG control algorithm by Smith predictor, to determine the phase difference by the experiment phenomenon. The experimental results show that the control effect after time delay compensation is better than that uncompensated at the first and the second order modal frequency, and can effectively reduce the high frequency excitation from the actuator to the structure. Thus verify the effectiveness of the Smith predictive compensation method, and the improved effect to vibration control.