CN103144110A - Cantilever tail end vibration analysis and error compensation method - Google Patents
Cantilever tail end vibration analysis and error compensation method Download PDFInfo
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Abstract
The invention discloses a cantilever tail end vibration analysis and error compensation method, which comprises the following steps: simulating low-frequency vibration of the cantilever by a base body Stewart platform, and compensating the space error of an actuator tail end by a positioning Stewart platform based on the value measured by a laser displacement transducer; and simulating high-frequency vibration of the cantilever by a scaled-down cantilever based on the parameterized standard excitation, measuring the space error of the actuator tail end based on a cantilever distribution parameter dynamic model and a force sensor, and compensating the space error by the positioning Stewart platform based on the measuring, wherein the compensation effect is assessed by the laser displacement transducer. According to the invention, the space error of the cantilever tail end is measured based on a cantilever precise dynamic model and the force sensor, which improves the error compensation precision and efficiency of the positioning Stewart platform; and meanwhile, based on the space error caused by the positioning Stewart platform in compensating high/low-frequency vibration, the static and dynamic positioning accuracy of the actuator can be improved.
Description
Technical field
The present invention relates to mechanical oscillation and Robotics application, particularly about a kind of analysis of cantilever vibration and error compensating method.
Background technology
Flexible cantilever occupies very consequence because having the advantages such as quality is light, movement velocity is fast in applications such as unmanned remote sensing operation, accurate manufacturing and national defence.But large due to the flexible cantilever amount of deflection, damping is little, is subject to External Force Acting and produces sustained vibration in motion process, affects end positioning accuracy and efficient, has limited its further application.The jib-length of using in engineering practice takes up room large generally greater than 5m, make experiment porch build inconvenience, and the platform cost is high, has brought difficulty for the vibration analysis of cantilever.Simultaneously, exceed the cantilever of certain value for slenderness ratio, the terminal position error is produced by static deformation and the high frequency dynamic vibration that low frequency causes, this gives, and cantilever is quick, hi-Fix must realize having proposed new challenge.
In prior art, solution to the problems described above is mainly vibration suppression method and error compensation method.Wherein, the vibration suppression method is to utilize the software emulation analysis, as Ansys, B﹠amp; K Pulse etc. obtain cantilever vibration mode.According to the gained mode of oscillation, increase accessory structure on cantilever, suppress its vibration, reach the purpose of hi-Fix.The method is simple in structure, can suppress preferably dither, is used widely in engineering.But this vibration suppressing method lacks flexibility, and is not good enough to the low-frequency vibration inhibition; Error compensating method is the site error that adopts initiatively executing agency's compensation deformation or vibration to cause, reaches the purpose that improves the end positioning accuracy.Harbin Institute of Technology's patent 200410013627.7 relates to a kind of method that six-degree-of-freedom parallel robot is realized precision positioning, the method can be carried out effective compensation to the site error that low-frequency vibration causes, but the compensation of error efficient that dither is caused is low and low precision.
Summary of the invention
For the problems referred to above, the present invention propose a kind of for analyze cantilever low/method that error that dither produces compensates.
For achieving the above object, the present invention by the following technical solutions:
A kind of cantilevered distal end vibration analysis and error compensating method is characterized in that, described method relates to matrix Stewart platform, dwindles a certain proportion of cantilever, power sensor, location Stewart platform, actuator and laser displacement sensor; Wherein, the fixed platform of described matrix Stewart platform is fixed on safety wall, and its motion platform is fixedly connected with an end of cantilever, and the other end is connected by the fixed platform of power sensor with location Stewart platform; Motion platform and the actuator of location Stewart platform are rigidly connected, and described laser displacement sensor makes its laser vertical of sending in described executor tail end surface;
Described method comprises the vibration analysis of low frequency cantilevered distal end and error compensation, specifically comprises the steps:
Step 101: the motion by matrix Stewart platform drives the cantilever generation low-frequency vibration that is fixedly linked with it;
Step 102: laser displacement sensor records the position skew of executor tail end, and with the input quantity of this side-play amount as location Stewart platform;
Step 103: utilize Stewart platform joint space mechanical model of motion, locate the motion of Stewart platform by control, complete the compensation to the executor tail end site error.
Further, described method also comprises dither analysis and the error compensation to cantilevered distal end, specifically comprises the steps:
Step 201: the motion by matrix Stewart platform drives the dither that coupled cantilevered distal end produces required frequency;
Step 202: set up cantilever accurate distribution parameter kinetic model, obtain the expression formula of cantilevered distal end site error Changing Pattern;
Step 203: the stressed size of cantilevered distal end that records according to the power sensor, obtain cantilevered distal end position actual error Changing Pattern, recycling Stewart platform joint space mechanical model of motion, locate the motor of Stewart platform by control, realize the variation of its length of telescopic bar, complete the Contrary compensation to the executor tail end site error that causes due to the cantilever dither.
Further, step 201 further comprises, described matrix Stewart platform provides the parametrization pattern field, makes cantilevered distal end produce the dither of required frequency.
Further, described step 203 further comprises: during in cantilevered distal end, its terminal position error is time dependent sine curve when suffered External Force Acting.
The present invention is owing to taking above technical scheme, and it has the following advantages:
1, matrix Stewart platform can be analyzed the cantilever low-frequency vibration, again can be for the cantilever dither provides the parametrization pattern field, for cantilever vibration suppresses the condition that provides the foundation;
2, the cantilevered distal end site error that obtains according to the accurate kinetic model of cantilever and six degree of freedom power/torque sensor measured value has improved precision and the efficient of locating the error compensation of Stewart platform;
3, location Stewart platform can compensate cantilever low/site error that dither causes, improved the Static and dynamic positioning accuracy of actuator.
Description of drawings
Fig. 1 is the composition structural representation of analysis of cantilever vibration and error compensation system method.
Fig. 2 is the organization scheme of the error compensation that causes of cantilever low-frequency vibration.
Fig. 3 is the organization scheme of the error compensation that causes of cantilever dither.
The specific embodiment
For making the purpose, technical solutions and advantages of the present invention clearer, below in conjunction with specific embodiment, and with reference to accompanying drawing, the present invention is described in more detail.
Fig. 1 is the composition structural representation of analysis of cantilever vibration and error compensating method, and its overall structure comprises matrix Stewart platform 2, dwindles a certain proportion of cantilever 3, power sensor 4, location Stewart platform 5, actuator 6 and laser displacement sensor 7.Wherein, but the Stewart platform formed by the connecting rod of the independent telescope of motor, motion platform, fixed platform and six parallel connections.By the length variations of Electric Machine Control expansion link, complete moving platform position and posture changing; Actuator is any actuator of the prior art.The fixed platform of described matrix Stewart platform 2 is fixed on safety wall 1, and its motion platform is fixedly connected with an end of cantilever 3, and the other end is connected by the fixed platform of power sensor 4 with location Stewart platform 5; Motion platform and the actuator 6 of location Stewart platform are rigidly connected, and the laser vertical that laser displacement sensor 7 sends is in testee (executor tail end) surface.
The cantilever low-frequency vibration is by matrix Stewart platform simulation, and the executor tail end site error is compensated according to the laser displacement sensor measured value by location Stewart platform; The cantilever dither provides dwindling of parametrization pattern field a certain proportion of cantilever simulation by matrix Stewart platform, the executor tail end site error is obtained by cantilever distributed constant kinetic model and power sensor measured value, according to it is compensated, its compensation effect is evaluated by laser displacement sensor by location Stewart platform.
In the embodiment of the present invention, Fig. 2 is the organization scheme of cantilever low-frequency vibration analysis and error compensating method, and the power sensor as coupling assembling, is rigidly connected cantilever and location Stewart platform in this scheme, specifically comprises the steps:
Step 101: cantilever is subjected to External Force Acting to produce low-frequency vibration.The length variations of six the independent telescope bars of Electric Machine Control by matrix Stewart platform realizes its motion platform motion, thereby drives the cantilever generation low-frequency vibration that is fixedly linked with it;
Step 102: laser displacement sensor records the position skew of executor tail end, and with the input quantity of this side-play amount as location Stewart platform;
Step 103: utilize Stewart platform joint space mechanical model of motion, locate the motor of Stewart platform by control, realize the variation of its six length of telescopic bar, thereby realize the Contrary compensation to the described side-play amount of input, improved the positioning accuracy of actuator.
In the embodiment of the present invention, Fig. 3 is the organization scheme of the analysis of cantilever dither and error compensating method, comprises the steps:
Step 201: matrix Stewart platform provides the parametrization pattern field, makes cantilevered distal end produce the dither of required frequency.By the motor of matrix Stewart platform is controlled, make its motion platform produce the high frequency motion of certain frequency, thereby make the dither that a certain proportion of cantilevered distal end produces required frequency that dwindles that is fixedly linked with it;
Step 202: set up cantilever accurate distribution parameter kinetic model, and obtain cantilevered distal end site error Changing Pattern w
t(t) expression formula:
Wherein: L
-1[] is the computing of Laplace inverse transformation, and l, ρ and A are respectively length, density and the cross-sectional area that dwindles the certain proportion cantilever; w
l(t) be offset the Changing Pattern of t in time, F for x=l place cantilever position
d(s) be subjected to external force F for cantilever in the x=l place
d(t) pull-type conversion, b is constant, expression formula is:
ω
nBe the n rank intrinsic frequency of cantilever, expression formula is:
E and I are respectively Young's modulus and the cross section polar moment of inertia of cantilever.β
nBe constant, expression formula is:
W
n(l) be the x=l cantilever n of place first order mode function, expression formula is
Wherein, C
nBe any non-vanishing constant.
Step 203: record the stressed size in cantilevered distal end position by the power sensor, and this value is brought in formula (1), obtain cantilevered distal end deviations of actual position Changing Pattern, be time dependent sine curve.This site error is the position offset of location Stewart platform Contrary compensation simultaneously.Utilize electronic Stewart platform joint space mechanical model of motion, by the motor of location Stewart platform is controlled, realize the variation of its six independent telescope pole lengths, complete the compensation to the executor tail end site error that causes due to the cantilever dither.
Step 204: laser displacement sensor is evaluated in real time to the compensation effect of location Stewart platform.The laser displacement sensor show value is the position skew of the executor tail end of surveying, and its show value is less, illustrates that the position skew of actuator is less, and the compensation effect of location Stewart platform is better.
Above-described specific embodiment; purpose of the present invention, technical scheme and beneficial effect are further described; institute is understood that; the above is only specific embodiments of the invention; be not limited to the present invention; within the spirit and principles in the present invention all, any modification of making, be equal to replacement, improvement etc., within all should being included in protection scope of the present invention.
Claims (4)
1. a cantilevered distal end vibration analysis and error compensating method, is characterized in that, described method relates to matrix Stewart platform, dwindles a certain proportion of cantilever, power sensor, location Stewart platform, actuator and laser displacement sensor; Wherein, the fixed platform of described matrix Stewart platform is fixed on safety wall, and its motion platform is fixedly connected with an end of cantilever, and the other end is connected by the fixed platform of power sensor with location Stewart platform; Motion platform and the actuator of location Stewart platform are rigidly connected, and described laser displacement sensor makes its laser vertical of sending in described executor tail end surface;
Described method comprises low-frequency vibration analysis and the error compensation to cantilevered distal end, specifically comprises the steps:
Step 101: the motion by matrix Stewart platform drives the cantilever generation low-frequency vibration that is fixedly linked with it;
Step 102: laser displacement sensor records the position skew of executor tail end, and with the input quantity of this side-play amount as location Stewart platform;
Step 103: utilize Stewart platform joint space mechanical model of motion, locate the motor of Stewart platform by control, realize the variation of its length of telescopic bar, thereby realize the Contrary compensation to the side-play amount of described input.
2. the method for claim 1, is characterized in that, described method also comprises dither analysis and the error compensation to cantilevered distal end, specifically comprises the steps:
Step 201: the motion by matrix Stewart platform drives the dither that coupled cantilevered distal end produces required frequency;
Step 202: set up cantilever accurate distribution parameter kinetic model, obtain the expression formula of cantilevered distal end site error Changing Pattern;
Step 203: the stressed size of cantilevered distal end that records according to the power sensor, obtain cantilevered distal end position actual error Changing Pattern, recycling Stewart platform joint space mechanical model of motion, locate the motor of Stewart platform by control, realize the variation of its length of telescopic bar, complete the Contrary compensation to the executor tail end site error that causes due to the cantilever dither.
3. method as claimed in claim 2 is characterized in that: step 201 further comprises, described matrix Stewart platform provides the parametrization pattern field, makes cantilevered distal end produce the dither of required frequency.
4. method as claimed in claim 3, is characterized in that, described step 203 further comprises: during in cantilevered distal end, its terminal position error is time dependent sine curve when suffered External Force Acting.
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Cited By (11)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103273480A (en) * | 2013-06-14 | 2013-09-04 | 中国科学院自动化研究所 | Vibration simulation, active compensation and vibration restraining system based on force feedback |
| CN105627928A (en) * | 2014-10-30 | 2016-06-01 | 北京精密机电控制设备研究所 | Automatic testing method for torque motor armature displacement characteristic |
| CN106584464A (en) * | 2016-12-31 | 2017-04-26 | 重庆大学 | Method for compensating transmission chain errors of aircraft model of decoupling mechanism in captive trajectory tests |
| CN106802225A (en) * | 2016-12-31 | 2017-06-06 | 中国工程物理研究院激光聚变研究中心 | The six degree of freedom non-decoupling mechanism end position and attitude error penalty method in time varying temperature |
| CN107389288A (en) * | 2017-08-18 | 2017-11-24 | 常州市计量测试技术研究所 | The vibration path analysis system and method for a kind of industrial robot |
| CN109129494A (en) * | 2018-11-15 | 2019-01-04 | 广东工业大学 | A kind of micro- compensation device of parallel connection |
| CN109562518A (en) * | 2016-08-08 | 2019-04-02 | 三菱电机株式会社 | The control device of link mechanism in parallel |
| CN110382176A (en) * | 2017-03-02 | 2019-10-25 | 物理仪器(Pi)两合有限公司 | Device and driver for motion analysis |
| CN111515955A (en) * | 2020-05-13 | 2020-08-11 | 中科新松有限公司 | Method and device for inhibiting residual shaking of flexible joint mechanical arm |
| CN112338917A (en) * | 2020-10-29 | 2021-02-09 | 广州大学 | Control method, system, device and medium for large-stroke multistage telescopic arm |
| CN116100563A (en) * | 2023-04-12 | 2023-05-12 | 广东毕要科技有限公司 | Robot tail end precision control method and device, storage medium and robot |
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Cited By (18)
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| CN103273480B (en) * | 2013-06-14 | 2015-04-22 | 中国科学院自动化研究所 | Vibration simulation, active compensation and vibration restraining system based on force feedback |
| CN103273480A (en) * | 2013-06-14 | 2013-09-04 | 中国科学院自动化研究所 | Vibration simulation, active compensation and vibration restraining system based on force feedback |
| CN105627928A (en) * | 2014-10-30 | 2016-06-01 | 北京精密机电控制设备研究所 | Automatic testing method for torque motor armature displacement characteristic |
| CN109562518B (en) * | 2016-08-08 | 2021-07-30 | 三菱电机株式会社 | Control device of parallel link mechanism |
| CN109562518A (en) * | 2016-08-08 | 2019-04-02 | 三菱电机株式会社 | The control device of link mechanism in parallel |
| CN106584464B (en) * | 2016-12-31 | 2019-11-12 | 重庆大学 | The dummy vehicle transmission chain error compensation method of decoupling mechanism in a kind of captive trajectory testing |
| CN106584464A (en) * | 2016-12-31 | 2017-04-26 | 重庆大学 | Method for compensating transmission chain errors of aircraft model of decoupling mechanism in captive trajectory tests |
| CN106802225A (en) * | 2016-12-31 | 2017-06-06 | 中国工程物理研究院激光聚变研究中心 | The six degree of freedom non-decoupling mechanism end position and attitude error penalty method in time varying temperature |
| CN106802225B (en) * | 2016-12-31 | 2020-10-30 | 中国工程物理研究院激光聚变研究中心 | Six-degree-of-freedom non-decoupling mechanism end pose error compensation method in time-varying temperature field |
| CN110382176A (en) * | 2017-03-02 | 2019-10-25 | 物理仪器(Pi)两合有限公司 | Device and driver for motion analysis |
| CN110382176B (en) * | 2017-03-02 | 2022-07-29 | 物理仪器(Pi)两合有限公司 | Device and drive for motion analysis |
| CN107389288A (en) * | 2017-08-18 | 2017-11-24 | 常州市计量测试技术研究所 | The vibration path analysis system and method for a kind of industrial robot |
| CN109129494A (en) * | 2018-11-15 | 2019-01-04 | 广东工业大学 | A kind of micro- compensation device of parallel connection |
| CN109129494B (en) * | 2018-11-15 | 2023-09-12 | 广东工业大学 | Parallel micro-compensation device |
| CN111515955A (en) * | 2020-05-13 | 2020-08-11 | 中科新松有限公司 | Method and device for inhibiting residual shaking of flexible joint mechanical arm |
| CN112338917A (en) * | 2020-10-29 | 2021-02-09 | 广州大学 | Control method, system, device and medium for large-stroke multistage telescopic arm |
| CN116100563A (en) * | 2023-04-12 | 2023-05-12 | 广东毕要科技有限公司 | Robot tail end precision control method and device, storage medium and robot |
| CN116100563B (en) * | 2023-04-12 | 2023-06-13 | 广东毕要科技有限公司 | Robot tail end precision control method and device, storage medium and robot |
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