| Popis: |
In order to suppress the vibration in the end of large double-link hydraulic flexible manipulator,taking the heavy load hydraulic flexible mechanical arm as the study object and aiming at the end of arm movement in the process of vibration phenomenon,by the servo-hydraulic system-Euler Bernoulli model,Lagrange equation and Jacobian matrix,a piezoelectric feedback driven system control method is designed,through the end of the robot arm equipped with sensitive piezoelectric transmitter,piezoelectric actuators and inversion control design methods,the movement of servo hydraulic cylinder vibration,the hydraulic cylinder with manipulator friction and manipulator rod elastic vibration influence of the hydraulic flexible manipulator end vibration are studied. The simulation results show that,the vibration suppression method for better stability control,the end vibration of hydraulic flexible manipulator can be significantly reduced,the vibration attenuation time is shortened,the positioning precision can be improved obviously. |
