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首页> 外文会议>World Congress on Intelligent Control and Automation >Dynamic Modeling and Active Vibration Control of a 3-PRR Flexible Parallel Manipulator with PZT transducers
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Dynamic Modeling and Active Vibration Control of a 3-PRR Flexible Parallel Manipulator with PZT transducers

机译：具有PZT换能器的3-PRR柔性平行机械手的动态建模与主动振动控制

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This paper addresses the dynamic modeling and active vibration control of a 3-PRR parallel manipulator with three flexible intermediate links with multiple bonded lead zirconate titanate (PZT) actuators and sensors based on strain rate feedback (SRF). Using the assumed mode method, flexible intermediate links are modeled as Euler-Bernoulli beams with pinned-pinned boundary conditions. Experimental modal tests are conducted to verify the assumed mode shapes and boundary conditions. A PZT actuator controller is designed based on strain rate feedback control. The dynamic equations are developed by incorporating control moments from PZT actuators. A state-space model is developed to formulate the control input and output voltages applied to PZT actuators, and generated from PZT sensors. Then, the design of an optimal active vibration controller is presented for the parallel manipulator with flexible links with multiple bonded PZT transducers based on SRF. Numerical simulations and active vibration control experiments are performed and demonstrate that the proposed active vibration control strategy is effective.
机译：本文解决了具有三种柔性中间链路的3-PRR并联机械手的动态建模和主动振动控制，其具有多键合引线钛酸钛酸盐（PZT）致动器和基于应变速率反馈（SRF）的传感器。使用假定的模式方法，灵活的中间链路被建模为具有固定钉扎边界条件的Euler-Bernoulli波束。进行实验模态测试以验证假定的模式形状和边界条件。 PZT执行器控制器基于应变速率反馈控制设计。通过从PZT执行器中包含控制矩来开发动态方程。开发出状态空间模型以配制应用于PZT执行器的控制输入和输出电压，并从PZT传感器产生。然后，对于具有基于SRF的多键合的PZT换能器的具有柔性链路，向并行机械手提供了最佳有源振动控制器的设计。进行数值模拟和有源振动控制实验，并证明所提出的主动振动控制策略是有效的。

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