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首页> 外文期刊>Mechanism and Machine Theory: Dynamics of Machine Systems Gears and Power Trandmissions Robots and Manipulator Systems Computer-Aided Design Methods >Active vibration controller design and comparison study of flexible linkage mechanism systems
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Active vibration controller design and comparison study of flexible linkage mechanism systems

机译：柔性连杆机构系统主动振动控制器设计与比较研究

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摘要

Three active vibration controller design methodologies include the reduced modal controller, the classical and the robust H{sub}∞ controller for the high-speed flexible linkage mechanism systems with piezoelectric actuators and sensors are investigated. Firstly, the state space form control model is formulated based on the complex mode theory. Secondly, the reduced modal controller, the classical and the robust H{sub}∞ controller are designed. Finally, numerical simulations are carried out on a 4-bar linkage mechanism. The simulation results show that the vibration of the system is significantly suppressed with permitted actuator input voltages by each of the three controllers. The reduced modal control makes it more convenient to increase the modal damping of the system than that of the H{sub}∞ control does, while the robust H{sub}∞ control can avoid the spillover due to mode truncation.
机译：三种主动振动控制器设计方法包括简化模态控制器，用于带压电致动器和传感器的高速柔性连杆机构系统的经典和鲁棒H {sub}∞控制器。首先，基于复模理论建立了状态空间形式控制模型。其次，设计了简化模态控制器，经典和鲁棒H {sub}∞控制器。最后，在四连杆机构上进行了数值模拟。仿真结果表明，三个控制器中的每一个在允许的执行器输入电压下都可以显着抑制系统的振动。减少的模态控制使其比H {sub}∞控制更方便地增加系统的模态阻尼，而鲁棒的H {sub}∞控制则可以避免由于模式截断而造成的溢出。

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