Research On Vibration Measurement And Control Of Piezoelectric Flexible Plate Based On Binocular Vision

With the development of aerospace industry,the structure of spacecrafts gradually tends to be large and flexible,such as solar panels and antennas.The large flexible structure has the characteristics of low damping,light weight and low frequency characteristics,which is the most representative of the solar panels.Under external disturbances,the continuous low frequrency vibration will be easily excited,which with affect its normal work,even leading to instability of the system.Therefore,vibration measurement and control must be investigated for flexible plates.In order to solve the problem of vibration measurement and vibration suppression of flexible plate,piezoelectric flexible cantilever plate and piezoelectric flexible hinge plate experimental systems based on binocular vision measurement are constructed.The binocular vision is applied to measure the vibration of piezoelectric flexible plates.A decoupling method is given,for bending and torsional vibration modes on measurement using binocular vision.Piezoelectric actuators are used to suppress its vibration.The experimental systems include a piezoelectric flexible hinge plate and a piezoelectric flexible cantilever plate,industrial camera,Googoltech motion control card,dual channel piezoelectric amplifier and computer,etc.The software mainly includes binocular vision measurement program,humancomputer interaction interface program and control program.The vibration sequence images of the piezoelectric flexible plate are acquired by the binocular vision.The pole line correction,filter denoising,Canny edge extraction,feature circle contour extraction and feature circle matching are utilized to extract vibration information.The decoupling on bending and the torsional vibration on measurement of the piezoelectric flexible plate is realized by the researched method.Finite element method and Hamilton principle is used to obtain the state space model of the piezoelectric flexible hinge plate.Simulation is carried out by adopting the designed Proportional Derivative(PD)algorithm and the Radial Basis Function(RBF)algorithm,to suppress the vibration of the piezoelectric flexible hinge plate,including the first bending mode and the first torsional mode.The simulation results show that the designed PD and RBF control algorithms show good vibration suppression effect.Based on the feedback information of the binocular vision measurement,the designed PD algorithm and the Minimal Control Synthesis(MCS)algorithm are used to suppress the bending vibration of the piezoelectric flexible cantilever plate.The experimental results demonstrate that the designed PD algorithm and MCS algorithm can suppress the low frequency vibration of piezoelectric flexible cantilever plate effectively,and the control effect of MCS algorithm is better than PD algorithm.Based on the investigated binocular vision measurement method,the designed PD and RBF control algorithms are applied to suppress the first mode of bending and torsional vibration of piezoelectric flexible hinge plate.The experimental results show that the designed PD and RBF control algorithm have the ablility of suppressing the low frequency bending and torsional vibration of piezoelectric flexible hinge plate.