CN106896851A - It is a kind of to rotate and the mobile double-flexibility beam control device and method for directly driving - Google Patents
It is a kind of to rotate and the mobile double-flexibility beam control device and method for directly driving Download PDFInfo
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- CN106896851A CN106896851A CN201710187779.6A CN201710187779A CN106896851A CN 106896851 A CN106896851 A CN 106896851A CN 201710187779 A CN201710187779 A CN 201710187779A CN 106896851 A CN106896851 A CN 106896851A
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- G—PHYSICS
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- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D27/00—Simultaneous control of variables covered by two or more of main groups G05D1/00 - G05D25/00
- G05D27/02—Simultaneous control of variables covered by two or more of main groups G05D1/00 - G05D25/00 characterised by the use of electric means
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Abstract
Rotated and the mobile double-flexibility beam control device and method for directly driving the invention discloses a kind of, including flexible beam body part, vibration detecting part and drive control part, the flexible beam body part includes two flexible beams, acceleration transducer, piezoelectric patches sensor and piezoelectric actuator are set on every flexible beam, the present invention detects the vibration signal of flexible girder construction using piezoelectric patches sensor and acceleration transducer, and linear electric motors, direct drive electric rotating machine and piezoelectric actuator are used as the actuator for suppressing vibration.Compared to other vibration control apparatus, the device has the advantages that response is fast, control accuracy is high, good stability, can quickly control symmetrical and axisymmetry mode the vibration in the face of double-flexibility beam.
Description
Technical field
Positioning and vibration control field the present invention relates to flexible structure, and in particular to one kind rotation and mobile direct drive
Double-flexibility beam control device and method.
Background technology
Flexible structure is widely used in space flight and field of industrial production, relative to rigid structure, with light weight, energy consumption
The advantages of low, efficiency high, flexible operation, but the intrinsic frequency of flexible structure is low, and low frequency modal vibrates the features such as being easily ignited and limits
Its application in some fields has been made with development.
In recent years, the Active Vibration Control of flexible structure turns into the emphasis and hot subject of world today's research.Acceleration
Sensor mass is light, easy to install, and frequency band is wider, can be increased in broad frequency band scope using acceleration transducer feedback control
The active damping of system, strengthening system robustness.Because acceleration transducer be made an uproar using meeting to the substantial amounts of high frequency of system import
Acoustical signal, therefore to be filtered treatment.It is excellent that piezoceramic material has that response is fast, bandwidth, the linearity are good, be easily worked etc.
Point, is particularly suitable for the vibration control application of the flexible structures such as flexible beam.
Structure of the linear motion actuator is simple, and without movement conversion mechanism, movement inertia is small, dynamic response performance and positioning precision
It is high；Mechanical contact when linear electric motors are moved, without friction and noise, can realize the motion at a high speed with low speed；Linear electric motors are in footpath
Upward pulling force cancels each other, without unilateral magnetic force problem；Linear electric motors are by adjusting voltage or frequency, or change secondary materials,
Different speed and electromagnetic push can be obtained, various application occasions are adapted to；Compared to other leading screws, Timing Belt and rack-and-pinion
Drive, linear electric motors are driven and are obtained in that high acceleration, but linear electric motors cannot be still applied in the case of heavy load.
Direct-driving motor is in addition to the characteristic for having continued servomotor, because its low-speed big, high accuracy positioning, Gao Xiang
The characteristics of answering speed, simple structure, reduction mechanical loss, low noise, few maintenance etc. exclusive, is widely used in all trades and professions.
In conventional vibration control device, vibration control effect is always influenceed by mechanical transmission mechanism inherent characteristic,
Therefore be considered as linear electric motors and direct drive electric rotating machine to the vibration precision that is controlled to improve vibration control system and
Stability, can quickly control symmetrical and axisymmetry mode the vibration in the face of double-flexibility beam.
The content of the invention
In order to overcome the shortcoming and deficiency of prior art presence, it is double that a kind of rotation of present invention offer and movement directly drive
Flexible beam control device and method.
The present invention is adopted the following technical scheme that：
It is a kind of to rotate and the mobile double-flexibility beam control device for directly driving, including flexible beam body part, vibration detection
Part and drive control part；
The flexible beam body part includes two identical flexible beams, and two flexible beams are symmetrically mounted in the horizontal direction
On mechanical device bearing, two one end of flexible beam are fixed with mechanical device bearing be referred to as fixing end respectively, and the other end is for freely
End；
The vibration detecting part includes piezoelectric patches sensor, acceleration transducer, charge amplifier, terminal board, motion
Control card and computer, the piezoelectric patches sensor are arranged on the every center line of flexible beam width, and one side is pasted, and leans on
Nearly fixing end, the acceleration transducer is arranged on the every center line of flexible beam width, and near free end, the end
Daughter board is connected with each other with motion control card, and the motion control card is connected with each other with computer；
The vibration signal of the piezoelectric patches sensor detection by terminal board by after charge amplifier amplification, transmitting to fortune
Dynamic control card, in further inputting into computer；
Acceleration transducer detection flexible beam vibration signal is transmitted to motion control card through terminal board, further inputs into meter
In calculation machine；
Drive control part includes linear electric motors driving control system, direct drive electric rotating machine driving control system and pressure
Electric drive vibration control system；
The linear electric motors driving control system is watched including pedestal, linear electric motors, slide rail, precision linear encoder and linear electric motors
Unit is taken, the linear electric motors and precision linear encoder connect Linear motor servo list by the way of speed control or position control
Unit, the Linear motor servo unit is connected with each other with terminal board；
The linear electric motors, slide rail and precision linear encoder are arranged on pedestal, linear electric motors and precision linear encoder respectively with
Sliding block on slide rail is mechanically connected, as sliding block is moved；
The direct drive electric rotating machine driving control system includes direct drive electric rotating machine and direct drive electric rotating
Machine servo unit, the output end of the direct drive electric rotating machine is connected with mechanical device bearing, the direct drive electric rotating
Machine is connected with direct drive electric rotating machine servo unit, and the direct electric rotating machine servo unit is connected with each other with terminal board, institute
Direct drive electric rotating machine is stated to be mechanically connected with the sliding block on slide rail；
The Piezoelectric Driving vibration control system includes piezoelectric actuator and piezoelectricity amplifying circuit, and the computer will be controlled
Information is exported by motion control card and terminal board and arrives piezoelectricity amplifying circuit, and the piezoelectricity amplifying circuit drives piezoelectric actuator,
The piezoelectric actuator is pasted onto on two flexible beams.
The piezoelectric actuator is specially two, and every flexible beam pastes one, is pasted onto near flexible beam fixing end one
Side, the piezoelectric actuator is made up of four piezoelectric ceramic pieces, and tow sides are pasted, and on flexible beam width center line pair
Claim.
The piezoelectric patches sensor is made up of a piece of piezoelectric ceramic piece, and every flexible beam pastes a piece of.
A kind of control method of double-flexibility beam control device, comprises the following steps：
The first step detects that two flexible vibration of beams are obtained accordingly respectively using piezoelectric transducer and acceleration transducer
Measurement signal；
The vibration signal of second step piezoelectric transducer detection amplifies via charge amplifier, is transmitted via terminal board, passes through
A/D modular converters inside motion control card convert analog signals into data signal and are input in computer；
The vibration signal of acceleration transducer detection simultaneously transports to motion control card, by the A/D inside motion control card
Modular converter converts analog signals into data signal and is input in computer；
The detection signal that 3rd step computer is obtained according to step second step, obtains corresponding vibrational feedback signal, via fortune
The D/A modules output of dynamic control card, signal is amplified via terminal board output to piezoelectricity amplifying circuit, further drives Piezoelectric Driving
Device is used to control flexible vibration of beam；
Vibrational feedback signal is exported and gives Linear motor servo unit by the D/A modules of motion control card, terminal board simultaneously
And linear rotating motor servo unit, control to drive the movement of linear motor rotor and turning for linear drives electric rotating machine respectively
It is dynamic, so as to control the movement and vibration of flexible beam body part.
When two flexible vibration of beams are the symmetrical mode of oscillations in same phase, i.e. face, linear electric motors are driven to make flexible beam body
Part is in rectilinear direction movement control vibration；
When two flexible vibration of beams are anti-phase, i.e. Axisymmetrical Vibration mode, electric rotating machine is driven to make flexible beam body
The part flexible vibration of beam of pivoting control in the horizontal plane.
Beneficial effects of the present invention：
(1) control device of the present invention does not include the mechanical transmission mechanisms such as decelerator, along with linear electric motors and directly
Drive control motor sheet rubs very little, stable movement during driving, response speed that this causes control system, precision,
Stability has and is significantly lifted, and control effect also can be more preferable；
(2) present invention uses linear electric motors, direct drive electric rotating machine and piezoelectric actuator composite flooding flexibility girder construction,
So that control system copes with twin beams with mutually various Vibration Conditions are vibrated with anti-phase, linear electric motors can quickly suppress twin beams
In phase vibration, direct drive electric rotating machine can quickly suppress the anti-phase vibration of twin beams, and piezoelectric actuator can be fast and effeciently
The residual oscillation of beam is eliminated, these three drive parts cooperate, and can efficiently restrain flexible vibration of beam；
(3) present invention is detected using piezoelectric ceramic piece and acceleration transducer detects that the method being combined is shaken to flexible beam
It is dynamic to carry out detection comparing, be conducive to improving accuracy of detection.
Brief description of the drawings
Fig. 1 is the structural representation of the double-flexibility beam control device of a kind of rotation of the present invention and mobile linear drives；
Fig. 2 is the partial enlarged drawing in Fig. 1；
Fig. 3 is the front view of Fig. 1；
Fig. 4 is the top view of Fig. 1；
Fig. 5 is the left view of Fig. 1；
Fig. 6 is two flexible beam in phase vibration schematic diagrames；
Fig. 7 is two anti-phase vibration schematic diagrames of flexible beam；
Fig. 8 is the workflow diagram of control method of the present invention.
Specific embodiment
With reference to embodiment and accompanying drawing, the present invention is described in further detail, but embodiments of the present invention are not
It is limited to this.
Embodiment
As Figure 1-Figure 8, it is a kind of to rotate and the mobile double-flexibility beam control device for directly driving, including flexible beam body
Partly, vibration detecting part and drive control part；
The flexible beam body part includes two sizes, the identical flexible beams of material structure, and respectively first is soft
The property flexible beam 10 of beam 2 and second, two flexible beams are symmetrically mounted on mechanical device bearing in the horizontal direction, with mechanical device branch
The fixed one end of seat is referred to as fixing end, and the other end is free end.
The mechanical device bearing is connected with the output end of direct drive electric rotating machine 5, pacifies on first and second flexible beam
Dress piezoelectric patches sensor 3 and acceleration transducer 1 are completely the same in the installation site of every flexible beam and the model of selection.Every
On root flexible beam, piezoelectric patches sensor 3 is arranged on the center line of width and apart from the position of fixing end 80mm, and attitude angle is
0 degree of one side is pasted, and every flexible beam pastes a piece of, altogether two panels；
Piezoelectric actuator 4 is pasted onto flexible beam near the position of fixing end 20mm, and symmetrical on width center line, appearance
State angle is that 0 degree of double-sided symmetrical is pasted, and every flexible beam pastes four.
One is installed in the width center line of free end edge in every flexible beam only reaches velocity sensor in addition.
The vibration detecting part：
Piezoelectric patches sensor and acceleration transducer are used for the vibration signal of the flexible beam for detecting depended on, by itself
The vibration signal that sensing characteristicses will be detected is converted into electric signal output, the vibration signal warp of the detection of piezoelectric patches sensor 3
Cross after the amplification of charge amplifier 12, transmitted to motion control card 16 by terminal board 15, inside motion control card 16
Mock standard electric signal is converted into data signal and is input in computer 17 by A/D modular converters in proportion；Passed with brief acceleration
The vibration signal of the detection of sensor 1 is transmitted to motion control card 16, will be simulated by the A/D modular converters inside motion control card 16
Signal is converted into data signal and is input in computer 17.
The drive control part includes linear electric motors driving control system, direct drive electric rotating machine driving control system
And Piezoelectric Driving vibration control system；
The linear electric motors driving control system includes pedestal, linear electric motors 9, slide rail 6, precision linear encoder 7 and straight-line electric
Machine servo unit 14, the linear electric motors 9 and precision linear encoder 7 are connected to directly by the way of speed control or position control
Line motor servo unit 14, the stator of the stator, slide rail and precision linear encoder of the linear electric motors is installed on pedestal, described
Pedestal is arranged on experimental bench 8, and the mover of linear electric motors, the mover of precision linear encoder are mechanically connected with the sliding block on slide rail 6,
As sliding block is moved together, linear electric motors drive sliding block movement, and sliding block will drive the mover movement of grating scale, so as to measure sliding block
Positional information.The output end of Linear motor servo unit is connected with terminal board, and the terminal board 15 is mutual with motion control card
Connection, the motion control card is connected with each other with computer, and computer 17 sends phase after running respective algorithms according to feedback information
Controlled quentity controlled variable is answered, Linear motor servo unit is transmitted to by motion control card 16, terminal board 15, drive the shifting of linear motor rotor
It is dynamic, the movement of the moving belt movable slider of the linear motor rotor, so as to control the movement and vibration of flexible beam body.
The direct drive control system of dynamo electric machine includes that direct drive electric rotating machine 5 and direct drive electric rotating machine are watched
Unit 13 is taken, the output end of the direct drive electric rotating machine 5 is connected the rotation for driving double-flexibility beam with mechanical device bearing, fixed
Son is connected with the sliding block on slide rail.The direct drive electric rotating machine is connected directly by the way of speed control or position control
Electric rotating machine servo unit is driven, direct drive electric rotating machine servo unit is connected on terminal board, directly drive electric rotating
The rotation information of motor can be fed back to direct drive electric rotating machine servo unit by the encoder that machine is carried, and be passed by terminal board
Motion control card is transported to, is further transferred in computer, computer 17 sends phase after running respective algorithms according to feedback information
Controlled quentity controlled variable is answered, direct drive electric rotating machine servo unit 13 is transmitted to by motion control card 16, terminal board 15, drive direct drive
The rotation of electric rotating machine 5, the rotation of direct drive electric rotating machine 5 directly controls the rotation and vibration of flexible beam body part；
The Piezoelectric Driving vibration control system：Be input into for vibration signal and calculate by piezoelectric patches sensor and acceleration transducer
In machine, corresponding Algorithm of Active Control is run, then control signal is exported via the D/A output modules of motion control card 16,
By the information transmission of terminal board 15, signal, output to piezoelectric actuator 4, for suppressing are amplified by piezoelectricity amplifying circuit 11
Flexible vibration of beam.
Mechanism of the present apparatus not comprising the influence control accuracy such as decelerator, described flexible beam body part is by linear electric motors
With direct drive electric rotating machine direct drive control, the influence that transmission mechanism brings to control system is eliminated.The vibration control
Device being capable of the effectively response speed of Lifting Control System, precision, stability.
As shown in figure 8, the control method of the double-flexibility beam control device of a kind of rotation of the present invention and mobile direct drive, bag
Include following steps：
The first step detects that two flexible vibration of beams are obtained accordingly respectively using piezoelectric transducer and acceleration transducer
Measurement signal；
The vibration signal of second step piezoelectric transducer detection amplifies via charge amplifier, is transmitted via terminal board, passes through
A/D modular converters inside motion control card convert analog signals into data signal and are input in computer；
The vibration signal of acceleration transducer detection simultaneously transports to motion control card, by the A/D inside motion control card
Modular converter converts analog signals into data signal and is input in computer；
The detection signal that 3rd step computer is obtained according to step second step, obtains corresponding vibrational feedback signal, via fortune
The D/A modules output of dynamic control card, signal is amplified via terminal board output to piezoelectricity amplifying circuit, further drives Piezoelectric Driving
Device is used to control flexible vibration of beam；
Vibrational feedback signal is exported and gives Linear motor servo unit by the D/A modules of motion control card, terminal board simultaneously
And linear rotating motor servo unit, control to drive the movement of linear motor rotor and turning for linear drives electric rotating machine respectively
It is dynamic, so as to control the movement and vibration of flexible beam body part.
The present invention can control double-flexibility beam with the vibration of phase and anti-phase vibration, when first, second flexible vibration of beam
It is the symmetrical mode of oscillation in same phase, i.e. face, drives linear electric motors flexible beam body part is effectively controlled in rectilinear direction movement
The control vibration of system ground；When first, second flexible vibration of beam is anti-phase, i.e. Axisymmetrical Vibration mode, direct drive rotation is driven
Rotating motor enables flexible beam body part, and pivoting efficiently controls vibration in the horizontal plane, furthermore, it is possible to use linear electric motors
With the movement and vibration that direct drive electric rotating machine suppresses flexible beam, also shaking for flexible beam can be suppressed with piezoelectric actuator simultaneously
It is dynamic, coordinate the driving of this three part, can effectively suppress flexible vibration of beam.
Dotted line in Fig. 1 indicates the line relation between each equipment, and direction arrow indicates detection and control signal
The direction of transfer of stream.
In the present embodiment, the parameter such as the material of the first and second flexible beams, size is identical, is epoxy resin material
Material thin plate, physical dimension is 900mm × 100mm × 2mm.The elastic modelling quantity of epoxy resin is Ep=34.64Gpa, density be ρ=
1840kg/m3。
Piezoelectric actuator 4 is made up of piezoceramic material, and physical dimension is 50mm × 15mm × 1mm, and slabbing is pasted onto
On flexible beam, apart from fixing end 20mm, apart from beam width direction lower edges 10mm, the elastic modelling quantity of piezoceramic material is Ep
=63Gpa, d31=-166pm/V.
Piezoelectric patches sensor 3 is made up of piezoceramic material, and physical dimension is 30mm × 10mm × 1mm, and slabbing is pasted
On flexible beam width center line, apart from fixing end 50mm.
Acceleration transducer 1 is from the capacitance type sensor of the model 8310B10 of Kistler companies, and it is nominal sensitive
It is 200mv/g to spend, and measurement frequency scope is 0-180Hz.
Experimental bench 8 is assembled by the aluminium section bar that three kinds of length are respectively 680mm, 480mm, 500mm, and table top is one piece
The stainless steel plate of 800mm × 600mm × 8mm, is connected by screw with section bar, and each junction of section bar has angle bar to fix.
Linear electric motors 9 can select the WMU U-shaped horizontal linear motors of series produced by Zheng Zhou micro-nano science and technology Co., Ltd, volume
Power output is determined for 90N, and maximum operational speed is 2.5m/s.
The closed grating scale of the model PLS35 that precision linear encoder 7 is produced from PASEKIAI companies, its accuracy in measurement
Reach 35 μm/m.
Model DDR112-AL30A1- of the direct drive electric rotating machine 5 from the production of De Mate Motor Manufacturing Co. Ltds
The high dynamic response direct driving motor of G11S, its nominal torque is 4Nm, and rated speed is 300rpm.
YE5850 type charge amplifier of the charge amplifier 12 from Jiangsu Lian Neng Electronics Co., Ltd.s；Motion control card 16
From the DMC-2x00 digital motion controllers of GALIL companies of U.S. production, there is provided the pci bus interface of standard；The meter of selection
CPU model core76650U2.2GHz, the internal memory 4G of calculation machine 17, there is PCI-e slots in mainboard, can install motion control card.
Piezoelectricity amplifying circuit 11 can select piezoelectric amplifier of model APEX-PA241DW or APEX-PA240CX etc. zero
Part is constituted, and its research institute is South China Science ＆ Engineering University, applicant's application entitled " space sailboard bend and torsion mode shake
Dynamic model intends active control device and method ", it is discussed in detail in the patent of Application No. 200810027186.4.Multiplication factor can
Reach 52 times, will -5V~+5V be amplified to -260~+260V.
As shown in Figure 6 and Figure 7, the double-flexibility beam driven based on linear electric motors and direct drive electric rotating machine of the present invention
There are two kinds of Vibration Conditions of in phase vibration and anti-phase vibration in vibration analysis and control device, its flexible beam body part.Such as Fig. 6 institutes
Show, when double vibration of beams are same phase, using linear electric motors drive control and Piezoelectric anisotropy drive control, control linear electric motors fortune
Dynamic direction is as shown by arrows in FIG..As shown in fig. 7, when double vibration of beams are anti-phase, using direct drive electric rotating machine and pressure
Reply conjunction drive control by cable, control direct drive electric rotating machine rotation direction is as shown by arrows in FIG..
Above-described embodiment is the present invention preferably implementation method, but embodiments of the present invention are not by the embodiment
Limitation, it is other it is any without departing from Spirit Essence of the invention and the change, modification, replacement made under principle, combine, simplification,
Equivalent substitute mode is should be, is included within protection scope of the present invention.
Claims (5)
1. it is a kind of rotate and mobile direct drive double-flexibility beam control device, it is characterised in that including flexible beam body part,
Vibration detecting part and drive control part；
The flexible beam body part includes two identical flexible beams, and two flexible beams are symmetrically mounted on machinery in the horizontal direction
On device seat, two one end of flexible beam are fixed with mechanical device bearing be referred to as fixing end respectively, and the other end is free end；
The vibration detecting part includes piezoelectric patches sensor, acceleration transducer, charge amplifier, terminal board, motion control
Card and computer, the piezoelectric patches sensor are arranged on the every center line of flexible beam width, and one side is pasted, and near solid
Fixed end, the acceleration transducer is arranged on the every center line of flexible beam width, and near free end, the terminal board
It is connected with each other with motion control card, the motion control card is connected with each other with computer；
The vibration signal of the piezoelectric patches sensor detection by terminal board by after charge amplifier amplification, transmitting to motion and controlling
Fabrication, in further inputting into computer；
Acceleration transducer detection flexible beam vibration signal is transmitted to motion control card through terminal board, further inputs into computer
In；
Drive control part includes that linear electric motors driving control system, direct drive electric rotating machine driving control system and piezoelectricity drive
Dynamic vibration control system；
The linear electric motors driving control system includes pedestal, linear electric motors, slide rail, precision linear encoder and Linear motor servo list
Unit, the linear electric motors and precision linear encoder connect Linear motor servo unit by the way of speed control or position control,
The Linear motor servo unit is connected with each other with terminal board；
The linear electric motors, slide rail and precision linear encoder are arranged on pedestal, linear electric motors and precision linear encoder respectively with slide rail
On sliding block mechanically connect, with sliding block move；
The direct drive electric rotating machine driving control system includes that direct drive electric rotating machine and direct drive electric rotating machine are watched
Take unit, the output end of the direct drive electric rotating machine is connected with mechanical device bearing, it is described direct drive electric rotating machine with
Direct drive electric rotating machine servo unit connection, the direct electric rotating machine servo unit is connected with each other with terminal board, described straight
Connect and drive electric rotating machine to be mechanically connected with the sliding block on slide rail；
The Piezoelectric Driving vibration control system includes piezoelectric actuator and piezoelectricity amplifying circuit, and the computer is by control information
Exported to piezoelectricity amplifying circuit by motion control card and terminal board, the piezoelectricity amplifying circuit drives piezoelectric actuator, described
Piezoelectric actuator is pasted onto on two flexible beams.
2. double-flexibility beam control device according to claim 1, it is characterised in that the piezoelectric actuator is specially two
Individual, every flexible beam pastes one, is pasted onto near flexible beam fixing end side, and the piezoelectric actuator is by four piezoelectric ceramics
Piece is constituted, and tow sides are pasted, and symmetrical on flexible beam width center line.
3. double-flexibility beam control device according to claim 1, it is characterised in that the piezoelectric patches sensor is by a piece of pressure
Electroceramics piece is constituted, and every flexible beam pastes a piece of.
4. the control method of the double-flexibility beam control device according to claim any one of 1-3, it is characterised in that including such as
Lower step：
The first step detects that two flexible vibration of beams are measured accordingly respectively using piezoelectric transducer and acceleration transducer
Signal；
The vibration signal of second step piezoelectric transducer detection amplifies via charge amplifier, is transmitted via terminal board, by motion
A/D modular converters inside control card convert analog signals into data signal and are input in computer；
The vibration signal of acceleration transducer detection simultaneously transports to motion control card, is changed by the A/D inside motion control card
Module converts analog signals into data signal and is input in computer；
The detection signal that 3rd step computer is obtained according to step second step, obtains corresponding vibrational feedback signal, is controlled via motion
The D/A modules output of fabrication, signal is amplified via terminal board output to piezoelectricity amplifying circuit, further drives piezoelectric actuator to use
In the flexible vibration of beam of control；
Vibrational feedback signal is exported to Linear motor servo unit and straight by the D/A modules of motion control card, terminal board simultaneously
Line electric rotating machine servo unit, respectively control drives the movement of linear motor rotor and the rotation of linear drives electric rotating machine, from
And control the movement and vibration of flexible beam body part.
5. control method according to claim 4, it is characterised in that when two flexible vibration of beams are same phase, i.e. face
Symmetric vibration mode, drives linear electric motors to make flexible beam body part in rectilinear direction movement control vibration；
When two flexible vibration of beams are anti-phase, i.e. Axisymmetrical Vibration mode, electric rotating machine is driven to make flexible beam body part
The flexible vibration of beam of pivoting control in the horizontal plane.
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| CN201710187779.6A CN106896851B (en) | 2017-03-27 | 2017-03-27 | A kind of rotation and the mobile double-flexibility beam control device and method directly driven |
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| CN107139193A (en) * | 2017-06-28 | 2017-09-08 | 华南理工大学 | The redundancy plane parallel mechanism control device and method of direct drive |
| CN108762198A (en) * | 2018-07-12 | 2018-11-06 | 华南理工大学 | A kind of rigidity and flexible motion move synchronously jack control device and method |
| CN110132517A (en) * | 2019-05-29 | 2019-08-16 | 华南理工大学 | A kind of more flexible piezoelectric beam coupled vibration analysis control device and methods |
| CN111059206A (en) * | 2019-12-28 | 2020-04-24 | 中国科学院沈阳自动化研究所 | Piezoelectric active vibration damper of flexible solar wing supporting structure |
| CN112051795A (en) * | 2020-08-14 | 2020-12-08 | 华南理工大学 | Device and method for detecting coupling vibration of movable multi-flexible beam connected by spring |
| CN112092014A (en) * | 2020-08-14 | 2020-12-18 | 华南理工大学 | Flexible arm vibration detection device based on linear motion of elastic base and control method |
| CN112098024A (en) * | 2020-08-14 | 2020-12-18 | 华南理工大学 | Multi-flexible cantilever beam moving and rotating vibration analysis device and control method |
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