Research On Vibration Reduction Method Of Single Link Flexible Manipulator Based On SRF Control

In this paper,aiming at the suppression of residual vibration of the flexible manipulator after the movement,the law of movement of the flexible arm is studied.Taking the variable cross-section single-link flexible arm for rotating movement as the research object,the dynamic model of the flexible arm is established,and a previous method is proposed.Feed control method.Configure the movement time of the flexible manipulator arm during the acceleration and deceleration phases to suppress the residual vibration at the end of the flexible arm,and quickly realize the stability of the flexible arm at the target position.The main research contents of this paper are as follows.First,use the assumed mode method and Lagrange dynamics to derive the dynamic equations of the uniform cross section flexible manipulator.For the variable cross-section flexible manipulator,the energy method is used to derive the equivalent mass matrix and stiffness matrix of the variable cross-section manipulator,and then the dynamic equation of the variable cross-section flexible arm is derived.The transfer function of the system is derived based on the flexible arms of two different materials.Second,analyze the motion law of the flexible manipulator in the acceleration and deceleration process,and use the idea that the impulse response is superimposed to zero,and propose a vibration reduction control method based on motion parameters in this paper.According to the target position,the angular acceleration and the maximum angular velocity value,the movement time t during the acceleration and deceleration phase of the configuration manipulator is approximately equal to a positive integer multiple of the firstorder natural vibration period T of the flexible arm.This thesis elaborates and analyzes the mechanism of vibration reduction control method based on case simulation.Third,use the transfer function of the flexible arm system and the proposed vibration reduction method to establish a simulation system.The simulation analysis of the galvanized sheet material and the flexible manipulator of aviation aluminum alloy material shows that the average residual vibration suppression percentage of the galvanized sheet steel flexible arm system can reach 97.61%,and the average residual vibration suppression percentage of the aviation aluminum alloy flexible arm system can reach 98.34 %,which verifies the effectiveness of the vibration reduction method of motion parameter configuration.Aiming at two different acceleration schemes of double-period acceleration time motion,simulation verification shows that the residual vibration control effect of segmented acceleration is better,and the residual vibration of the flexible arm of the two materials is relatively reduced by49.97% and 53.83%.Fourth,through experimental research and configuration of different motion parameters,the average residual vibration suppression percentage of the flexible arm system made of galvanized steel sheet material can reach 92.38%,and the average residual vibration suppression percentage of the flexible arm system made of aviation aluminum alloy material can reach 93.13%.The comparison of experimental research and simulation results proves that the vibration reduction method in this paper is effective.Fifth,on the basis of simulation research,a control method with strain rate feedback is proposed.The significance and collection method of strain rate are introduced,the PID algorithm with strain rate feedback is designed,and the simulation model is established.The simulation analysis of the flexible manipulators made of galvanized steel sheet materials and aviation aluminum alloy materials was carried out,and the results analyzed that the residual vibration suppression effect of the thin galvanized steel sheet material flexible arms increased by 91.06%,and the residual vibration suppression effect of the aviation aluminum alloy flexible arms increased by 91.21 %.