## 柔性臂控制方法及实验研究

Title    Active control and experimental study of flexible beam
Abstract
Aiming at the vibration control issue of flexible structures in the space engineering, smart piezoelectric materials are used as actuator and sensor to perform simulation analysis and experimental study of vibration suppression of flexible beam. In this paper, the finite element method is used to model the cantilever beam first.The method of adjusting the modal frequency of the cantilever beam is designed to increase functionality of the experimental set up.An integral controller with direct transmission terms is adopted to increase the damping of the system and suppress the vibration of the vibration. Numerical simulation of three kinds of integral control rate is performed, and simulation results show that the best control method is bandpass filter. At last, the experimental system is introduced, and experimental study of the cantilever beam is presented. Experimental results show the effectiveness of the presented control algorithm. 源￥自%六:维;论-文'网=www.lwfree.cn
keywords    flexible beam   vibration control  frequency adjustment   integral resonant control

1  绪论    1
1.1  智能压电材料    1
1.2  本文内容安排    2
2  柔性臂系统有限元建模    3
2.1  动力学模型    3
2.2  压电传感方程    6
2.3  压电致动方程    7
2.4  本章小结    7
3  一种调节悬臂梁频率的方法    8
3.1  改变挠性模态频率的目的    8
3.2  基本原理    8
3.2  实现方法    9
3.3  实验证明    11
3.4  本章小结    13
4  积分谐振控制器设计    14
4.1  振动控制算法    14
4.2  控制器介绍    14
4.2.1  零极点交错现象的分析    15
4.2.2  直接传输项的添加及数值计算    16
4.3  系统波特图    17
4.4  控制器设计    18
4.5  直接传输项对控制的影响    19
4.6  本章小结    20
5  仿真及实验结果    21
5.1  仿真结果    21
5.2  实验结果    25
5.3  本章小结    30

1  绪论

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