CN106896851B - A kind of rotation and the mobile double-flexibility beam control device and method directly driven - Google Patents
A kind of rotation and the mobile double-flexibility beam control device and method directly driven Download PDFInfo
- Publication number
- CN106896851B CN106896851B CN201710187779.6A CN201710187779A CN106896851B CN 106896851 B CN106896851 B CN 106896851B CN 201710187779 A CN201710187779 A CN 201710187779A CN 106896851 B CN106896851 B CN 106896851B
- Authority
- CN
- China
- Prior art keywords
- vibration
- flexible
- control
- linear motor
- electric machine
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Expired - Fee Related
Links
Classifications
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- 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
Abstract
The invention discloses a kind of rotations and the mobile double-flexibility beam control device and method directly driven, 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 motor directly drives rotating electric machine and piezoelectric actuator as the actuator for inhibiting vibration.Compared to other vibration control apparatus, which has many advantages, such as that response is fast, control precision is high, stability is good, can quickly control double-flexibility beam face is symmetrical and the vibration of axisymmetry mode.
Description
Technical field
The present invention relates to the positioning of flexible structure and vibration control fields, and in particular to it is a kind of rotation and movement directly drive
Double-flexibility beam control device and method.
Background technique
Flexible structure is widely used in space flight and field of industrial production, relative to rigid structure, has light weight, energy consumption
The advantages that low, high-efficient, flexible operation, but limit the features such as the intrinsic frequency of flexible structure is low, and low frequency modal vibration is easily ignited
Its application and development in certain fields is made.
In recent years, the active vibration control of flexible structure becomes 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 range using acceleration transducer feedback control
The active damping of system enhances system robustness.Since the application of acceleration transducer can make an uproar to a large amount of high frequency of system import
Acoustical signal, therefore to be filtered.It is excellent that piezoceramic material has that response is fast, bandwidth, the linearity are good, are easily worked etc.
Point, the vibration control application particularly suitable for flexible structures such as flexible beams.
Structure of the linear motion actuator is simple, is not necessarily to movement conversion mechanism, movement inertia is small, dynamic response performance and positioning accuracy
It is high；Without Mechanical Contact, no friction and noise when linear motor moves, it is able to achieve the movement of high speed and low speed；Linear motor is in diameter
Upward pulling force offsets each other, no unilateral magnetic force problem；Linear motor is by adjusting voltage or frequency, or replaces secondary materials,
Different speed and electromagnetic push can be obtained, various application occasions are adapted to；Compared to other lead screws, synchronous belt and rack-and-pinion
Driving, linear motor driving can obtain high acceleration, but linear motor can not still be applied in the case where heavy load.
Direct-driving motor is in addition to the characteristic for having continued servo motor, because of its low-speed big, high accuracy positioning, Gao Xiang
It answers speed, structure simple, reduces the exclusive features such as mechanical loss, low noise, few maintenance, be widely used in all trades and professions.
In conventional vibration control device, vibration control effect is always influenced by mechanical transmission mechanism inherent characteristic,
Therefore be considered as linear motor and directly drive rotating electric machine vibration is controlled, come improve vibration control system precision and
Stability, can quickly control double-flexibility beam face is symmetrical and the vibration of axisymmetry mode.
Summary of the invention
In order to overcome shortcoming and deficiency of the existing technology, the present invention provides a kind of rotation and mobile pair directly driven
Flexible beam control device and method.
The present invention adopts the following technical scheme:
A kind of rotation and the mobile double-flexibility beam control device directly driven, 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 support, respectively with the fixed referred to as fixing end of mechanical device support, the other end is freely for one end of two flexible beams
End；
The vibration detecting part includes piezoelectric patches sensor, acceleration transducer, charge amplifier, terminal board, movement
Control card and computer, the piezoelectric patches sensor are mounted on the middle line of every flexible beam width direction, and single side is pasted, and is leaned on
Nearly fixing end, the acceleration transducer are mounted on the middle line of every flexible beam width direction, and close to free end, the end
Daughter board and motion control card are connected with each other, and the motion control card and computer are connected with each other；
The vibration signal of the piezoelectric patches sensor detection is transmitted to fortune by terminal board after charge amplifier amplifies
Dynamic control card, further inputs into computer；
Acceleration transducer detects flexible beam vibration signal and is transmitted to motion control card through terminal board, further inputs into meter
In calculation machine；
Drive control part includes linear motor driving control system, directly drives rotating electric machine driving control system and pressure
Electric drive vibration control system；
The linear motor driving control system includes that pedestal, linear motor, sliding rail, precision linear encoder and linear motor are watched
Unit is taken, the linear motor connects Linear motor servo list with precision linear encoder by the way of speed control or position control
Member, the Linear motor servo unit and terminal board are connected with each other；
The linear motor, sliding rail and precision linear encoder installation on the base, linear motor and precision linear encoder respectively with
Sliding block mechanical connection on sliding rail, as sliding block is mobile；
The rotating electric machine driving control system that directly drives is including directly driving rotating electric machine and directly driving electric rotating
Machine servo unit, the output end for directly driving rotating electric machine is connect with mechanical device support, described to directly drive electric rotating
Machine is connect with rotating electric machine servo unit is directly driven, and the direct rotating electric machine servo unit and terminal board are connected with each other, institute
The sliding block directly driven on rotating electric machine and sliding rail is stated to be mechanically connected；
The Piezoelectric Driving vibration control system includes piezoelectric actuator and piezoelectricity amplifying circuit, and the computer will control
Information is output to piezoelectricity amplifying circuit by motion control card and terminal board, and the piezoelectricity amplifying circuit drives piezoelectric actuator,
The piezoelectric actuator is pasted on two flexible beams.
The piezoelectric actuator is specially two, and every flexible beam pastes one, is pasted onto close to flexible beam fixing end one
Side, the piezoelectric actuator are made of four piezoelectric ceramic pieces, and tow sides are pasted, and about flexible beam width direction middle line pair
Claim.
The piezoelectric patches sensor is made of a piece of piezoelectric ceramic piece, and every flexible beam is pasted a piece of.
A kind of control method of double-flexibility beam control device, includes the following steps:
The first step detects two flexible vibration of beams using piezoelectric transducer and acceleration transducer respectively and obtains accordingly
Measuring signal；
The vibration signal of second step piezoelectric transducer detection amplifies via charge amplifier, transmits, passes through via terminal board
A/D conversion module inside motion control card converts analog signals into digital signal and is input in computer；
The vibration signal of acceleration transducer detection simultaneously transports to motion control card, passes through the A/D inside motion control card
Conversion module converts analog signals into digital signal and is input in computer；
The detection signal that third step computer is obtained according to step second step, obtains corresponding vibrational feedback signal, via fortune
The D/A module output of dynamic control card, is output to piezoelectricity amplifying circuit amplified signal via terminal board, further drives Piezoelectric Driving
Device is for controlling flexible vibration of beam；
Vibrational feedback signal exports by the D/A module of motion control card, terminal board and gives Linear motor servo unit simultaneously
And linear rotating motor servo unit, control drives the movement of linear motor rotor and turning for linear drives rotating electric machine respectively
It is dynamic, to control the movement and vibration of flexible beam body part.
When two flexible vibration of beams are same phases, i.e., the symmetrical mode of oscillation in face, driving linear motor make flexible beam ontology
Part is in the mobile control vibration of rectilinear direction；
When two flexible vibration of beams are reverse phases, i.e., Axisymmetrical Vibration mode, driving rotating electric machine make flexible beam ontology
Pivoting controls flexible vibration of beam in the horizontal plane for part.
Beneficial effects of the present invention:
(1) control device of the present invention does not include the mechanical transmission mechanisms such as retarder, along with linear motor and directly
Rub during driving very little, movement of drive control motor itself is steady, this make the response speed of control system, precision,
Stability has a big promotion, and control effect also can be more preferable；
(2) present invention uses linear motor, directly drives rotating electric machine and piezoelectric actuator composite drive flexibility girder construction,
So that control system copes with twin beams with mutually a variety of Vibration Conditions are vibrated with reverse phase, linear motor can quickly inhibit twin beams
In phase vibration, directly driving rotating electric machine can quickly inhibit the reverse phase of twin beams to vibrate, 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) vibration of the present invention using the method that piezoelectric ceramic piece detection and acceleration transducer detection combine to flexible beam
It is dynamic to carry out detection comparison, be conducive to improve detection accuracy.
Detailed description of the invention
Fig. 1 is the structural schematic diagram 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 view in Fig. 1；
Fig. 3 is the main 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 flexible beam reverse phase vibration schematic diagrames；
Fig. 8 is the work flow diagram of control method of the present invention.
Specific embodiment
Below with reference to examples and drawings, 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, a kind of rotation and the mobile double-flexibility beam control device directly driven, including flexible beam ontology
Partially, vibration detecting part and drive control part；
The flexible beam body part includes two sizes, the identical flexible beam of material structure, and respectively first is soft
Property beam 2 and the second flexible beam 10, two flexible beams are symmetrically mounted in the horizontal direction on mechanical device support, with mechanical device branch
The fixed one end of seat is known as fixing end, and the other end is free end.
The mechanical device support is connect with the output end for directly driving rotating electric machine 5, is pacified on first and second flexible beam
It is completely the same in the installation site of every flexible beam and the model of selection to fill piezoelectric patches sensor 3 and acceleration transducer 1.Every
On root flexible beam, piezoelectric patches sensor 3 is mounted on the position on the middle line of width direction and apart from fixing end 80mm, and attitude angle is
0 degree of single side is pasted, and every flexible beam stickup is a piece of, altogether two panels；
Piezoelectric actuator 4 is pasted onto flexible beam close to the position of fixing end 20mm, and symmetrical about width direction middle line, appearance
State angle is that 0 degree of double-sided symmetrical is pasted, and every flexible beam pastes four.
In addition installation one only reaches velocity sensor in the width center line in every flexible beam close to free end edge.
The vibration detecting part:
Piezoelectric patches sensor and acceleration transducer are used to detect the vibration signal of depended on flexible beam, by itself
The vibration signal that sensing characteristics will test is converted into electric signal output, the vibration signal warp that the piezoelectric patches sensor 3 detects
It crosses after the amplification of charge amplifier 12, motion control card 16 is transmitted to by terminal board 15, inside motion control card 16
Mock standard electric signal is converted into digital signal in proportion and is input in computer 17 by A/D conversion module；It is passed with brief acceleration
The vibration signal that sensor 1 detects is transmitted to motion control card 16, will be simulated by the A/D conversion module inside motion control card 16
Signal is converted into digital signal and is input in computer 17.
The drive control part includes linear motor driving control system, directly drives rotating electric machine driving control system
And Piezoelectric Driving vibration control system；
The linear motor driving control system includes pedestal, linear motor 9, sliding rail 6, precision linear encoder 7 and straight-line electric
Machine servo unit 14, the linear motor 9 and precision linear encoder 7 are connected to directly by the way of speed control or position control
The stator of line motor servo unit 14, the stator of the linear motor, sliding rail and precision linear encoder is respectively mounted on the base, described
Pedestal is mounted on experimental bench 8, and the mover of linear motor, the mover of precision linear encoder are mechanically connected with the sliding block on sliding rail 6,
As sliding block moves together, linear motor drives sliding block mobile, and sliding block will drive the mover of grating scale mobile, to measure sliding block
Location information.The output end of Linear motor servo unit is connect with terminal board, and the terminal board 15 and motion control card are mutual
Connection, the motion control card and computer are connected with each other, and computer 17 issues phase after running respective algorithms according to feedback information
Control amount is answered, Linear motor servo unit is transmitted to by motion control card 16, terminal board 15, drives the shifting of linear motor rotor
Dynamic, the movement of the linear motor rotor is with the movement of movable slider, to control the movement and vibration of flexible beam ontology.
The control system of dynamo electric machine that directly drives includes directly driving rotating electric machine 5 and directly driving rotating electric machine to watch
Unit 13 is taken, the output end for directly driving rotating electric machine 5 connect the rotation of driving double-flexibility beam with mechanical device support, fixed
Son is connect with the sliding block on sliding rail.The rotating electric machine that directly drives is connected directly by the way of speed control or position control
Rotating electric machine servo unit is driven, rotating electric machine servo unit will be directly driven and be connected on terminal board, electric rotating is directly driven
The included encoder of machine, which can feed back to the rotation information of motor, directly drives rotating electric machine servo unit, is passed by terminal board
Motion control card is transported to, is further transferred in computer, computer 17 issues phase after running respective algorithms according to feedback information
Control amount is answered, is transmitted to by motion control card 16, terminal board 15 and directly drives rotating electric machine servo unit 13, driving directly drives
The rotation of rotating electric machine 5, the rotation for directly driving rotating electric machine 5 directly control the rotation and vibration of flexible beam body part；
The Piezoelectric Driving vibration control system: vibration signal is inputted and is calculated by piezoelectric patches sensor and acceleration transducer
In machine, corresponding Algorithm of Active Control is run, signal then will be controlled and is exported via the D/A output module of motion control card 16,
It is transmitted by the information of terminal board 15, by 11 amplified signal of piezoelectricity amplifying circuit, piezoelectric actuator 4 is output to, for inhibiting
Flexible vibration of beam.
The present apparatus does not include the mechanism of the influences such as retarder control precision, and the flexible beam body part is by linear motor
Control is directly driven with rotating electric machine is directly driven, eliminate transmission mechanism influences to control system bring.The vibration control
Device is capable of response speed, precision, the stability of effectively Lifting Control System.
As shown in figure 8, the control method of the present invention a kind of rotation and the mobile double-flexibility beam control device directly driven, packet
Include following steps:
The first step detects two flexible vibration of beams using piezoelectric transducer and acceleration transducer respectively and obtains accordingly
Measuring signal；
The vibration signal of second step piezoelectric transducer detection amplifies via charge amplifier, transmits, passes through via terminal board
A/D conversion module inside motion control card converts analog signals into digital signal and is input in computer；
The vibration signal of acceleration transducer detection simultaneously transports to motion control card, passes through the A/D inside motion control card
Conversion module converts analog signals into digital signal and is input in computer；
The detection signal that third step computer is obtained according to step second step, obtains corresponding vibrational feedback signal, via fortune
The D/A module output of dynamic control card, is output to piezoelectricity amplifying circuit amplified signal via terminal board, further drives Piezoelectric Driving
Device is for controlling flexible vibration of beam；
Vibrational feedback signal exports by the D/A module of motion control card, terminal board and gives Linear motor servo unit simultaneously
And linear rotating motor servo unit, control drives the movement of linear motor rotor and turning for linear drives rotating electric machine respectively
It is dynamic, 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 the vibration of reverse phase, when the first, second flexible vibration of beam
It is same phase, i.e., the symmetrical mode of oscillation in face, driving linear motor enable flexible beam body part effectively to control in rectilinear direction movement
The control vibration of system ground；When the first, second flexible vibration of beam is reverse phase, i.e. Axisymmetrical Vibration mode, driving directly drives rotation
Rotating motor enables flexible beam body part, and pivoting efficiently controls vibration in the horizontal plane, furthermore, it is possible to use linear motor
With the movement and vibration for directly driving rotating electric machine inhibition flexible beam, piezoelectric actuator can also be used to inhibit the vibration of flexible beam simultaneously
It is dynamic, coordinate the driving of this three parts, flexible vibration of beam can be effectively inhibited.
Dotted line in Fig. 1 indicates the line relationship between each equipment, and direction arrow, which is shown, detects and controls signal
The direction of transfer of stream.
In the present embodiment, the parameters such as the material of the first and second flexible beams, size are identical, are epoxy resin material
Expect thin plate, geometric dimension is 900mm × 100mm × 2mm.The elasticity modulus of epoxy resin is Ep=34.64Gpa, density be ρ=
1840kg/m3。
Piezoelectric actuator 4 is made of piezoceramic material, and geometric 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 elasticity modulus of piezoceramic material is Ep
=63Gpa, d31=-166pm/V.
Piezoelectric patches sensor 3 is made of piezoceramic material, and geometric dimension is 30mm × 10mm × 1mm, and slabbing is pasted
On flexible beam width direction middle line, apart from fixing end 50mm.
Acceleration transducer 1 selects the capacitance type sensor of the model 8310B10 of Kistler company, nominal sensitive
Degree is 200mv/g, and measurement frequency range is 0-180Hz.
Experimental bench 8 is assembled by the aluminum profile that three kinds of length are respectively 680mm, 480mm, 500mm, and table top is one piece
800mm × 600mm × 8mm stainless steel plate is connect by screw with profile, and each junction of profile has angle bar to fix.
The U-shaped horizontal linear motor of WMU series produced by Zheng Zhou micro-nano science and technology Co., Ltd, volume can be selected in linear motor 9
Determining power output is 90N, maximum operational speed 2.5m/s.
Precision linear encoder 7 selects the closed grating scale of the model PLS35 of PASEKIAI company production, accuracy in measurement
Reach 35 μm/m.
Directly drive the model DDR112-AL30A1- that rotating electric machine 5 selects the production of De Mate Motor Manufacturing Co. Ltd
The high dynamic response direct driving motor of G11S, nominal torque 4Nm, rated speed 300rpm.
The YE5850 type charge amplifier of the selection of charge amplifier 12 Jiangsu Lian Neng Electronics Co., Ltd.；Motion control card 16
The DMC-2x00 digital motion controller for selecting the production of U.S. GALIL company, provides the pci bus interface of standard；The meter of selection
The CPU model core76650U2.2GHz of calculation machine 17, memory 4G have PCI-e slot, mountable motion control card in mainboard.
Piezoelectric amplifier of model APEX-PA241DW or APEX-PA240CX etc. zero can be selected in piezoelectricity amplifying circuit 11
Part composition, research institute are South China Science & Engineering University, in entitled " space sailboard bend and the torsion mode vibration of applicant's application
Dynamic model intends active control device and method ", application No. is be discussed in detail in 200810027186.4 patent.Amplification factor can
Reach 52 times, i.e., -5V~+5V is amplified to -260~+260V.
As shown in Figure 6 and Figure 7, it is of the present invention based on linear motor and directly drive rotating electric machine driving double-flexibility beam
Vibration analysis and control device, there are in phase vibrations and reverse phase to vibrate two kinds of Vibration Conditions for flexible beam body part.Such as Fig. 6 institute
Show, when double vibration of beams are with phase, using linear motor drive control and Piezoelectric anisotropy drive control, controls linear motor fortune
Dynamic direction is as shown by arrows in figure.As shown in fig. 7, when double vibration of beams are reverse phase, using directly driving rotating electric machine and pressure
Reply conjunction drive control by cable, it is as shown by arrows in figure that control directly drives rotating electric machine rotation direction.
The above embodiment is a preferred embodiment of the present invention, but embodiments of the present invention are not by the embodiment
Limitation, other any changes, modifications, substitutions, combinations, simplifications made without departing from the spirit and principles of the present invention,
It should be equivalent substitute mode, be included within the scope of the present invention.
Claims (5)
1. a kind of rotation and the mobile double-flexibility beam control device directly driven, which is characterized 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, respectively with the fixed referred to as fixing end of mechanical device support, the other end is free end for one end of two flexible beams；
The vibration detecting part includes piezoelectric patches sensor, acceleration transducer, charge amplifier, terminal board, motion control
Card and computer, the piezoelectric patches sensor are mounted on the middle line of every flexible beam width direction, and single side is pasted, and close to solid
Fixed end, the acceleration transducer are mounted on the middle line of every flexible beam width direction, and close to free end, the terminal board
It is connected with each other with motion control card, the motion control card and computer are connected with each other；
The vibration signal of the piezoelectric patches sensor detection is transmitted to movement control after charge amplifier amplifies, by terminal board
Fabrication is further input into computer；
Acceleration transducer detects flexible beam vibration signal and is transmitted to motion control card through terminal board, further inputs into computer
In；
Drive control part includes linear motor driving control system, directly drives rotating electric machine driving control system and piezoelectricity drive
Dynamic vibration control system；
The linear motor driving control system includes pedestal, linear motor, sliding rail, precision linear encoder and Linear motor servo list
Member, the linear motor connect Linear motor servo unit with precision linear encoder by the way of speed control or position control,
The Linear motor servo unit and terminal board are connected with each other；
The linear motor, sliding rail and precision linear encoder installation on the base, linear motor and precision linear encoder respectively with sliding rail
On sliding block mechanical connection, as sliding block is mobile；
The rotating electric machine driving control system that directly drives includes directly driving rotating electric machine and directly driving rotating electric machine to watch
Take unit, the output end for directly driving rotating electric machine is connect with mechanical device support, it is described directly drive rotating electric machine with
The connection of rotating electric machine servo unit is directly driven, it is described to directly drive rotating electric machine servo unit and terminal board interconnection, institute
The sliding block directly driven on rotating electric machine and sliding rail is stated to be mechanically connected；
The Piezoelectric Driving vibration control system includes piezoelectric actuator and piezoelectricity amplifying circuit, and the computer will control information
It is output to piezoelectricity amplifying circuit by motion control card and terminal board, the piezoelectricity amplifying circuit drives piezoelectric actuator, described
Piezoelectric actuator is pasted on two flexible beams.
2. double-flexibility beam control device according to claim 1, which is characterized in that the piezoelectric actuator is specially two
A, every flexible beam pastes one, is pasted onto close to flexible beam fixing end side, the piezoelectric actuator is by four piezoelectric ceramics
Piece is constituted, and tow sides are pasted, and symmetrical about flexible beam width direction middle line.
3. double-flexibility beam control device according to claim 1, which is characterized in that the piezoelectric patches sensor is by a piece of pressure
Electroceramics piece is constituted, and every flexible beam is pasted a piece of.
4. the control method of double-flexibility beam control device according to claim 1-3, which is characterized in that including such as
Lower step:
The first step detects two flexible vibration of beams using piezoelectric transducer and acceleration transducer respectively and is measured accordingly
Signal；
The vibration signal of second step piezoelectric transducer detection amplifies via charge amplifier, transmits via terminal board, passes through movement
A/D conversion module inside control card converts analog signals into digital signal and is input in computer；
The vibration signal of acceleration transducer detection simultaneously transports to motion control card, is converted by the A/D inside motion control card
Module converts analog signals into digital signal and is input in computer；
The detection signal that third step computer is obtained according to step second step, obtains corresponding vibrational feedback signal, controls via movement
The D/A module of fabrication exports, and is output to piezoelectricity amplifying circuit amplified signal via terminal board, further piezoelectric actuator is driven to use
In the flexible vibration of beam of control；
Vibrational feedback signal is exported by the D/A module of motion control card, terminal board to Linear motor servo unit and straight simultaneously
Line rotating electric machine servo unit, the rotation of the movement of control driving linear motor rotor and linear drives rotating electric machine respectively, from
And control the movement and vibration of flexible beam body part.
5. control method according to claim 4, which is characterized in that when two flexible vibration of beams are same phase, i.e. face
Symmetric vibration mode, driving linear motor make flexible beam body part in the mobile control vibration of rectilinear direction；
When two flexible vibration of beams are reverse phases, i.e., Axisymmetrical Vibration mode, driving rotating electric machine make flexible beam body part
Pivoting controls flexible vibration of beam in the horizontal plane.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| 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 |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| 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 |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN106896851A CN106896851A (en) | 2017-06-27 |
| CN106896851B true CN106896851B (en) | 2018-12-11 |
Family
ID=59192509
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201710187779.6A Expired - Fee Related CN106896851B (en) | 2017-03-27 | 2017-03-27 | A kind of rotation and the mobile double-flexibility beam control device and method directly driven |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN106896851B (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| 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 |
Families Citing this family (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| 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 |
| CN110132517B (en) * | 2019-05-29 | 2023-09-29 | 华南理工大学 | Multi-flexible piezoelectric beam coupling vibration analysis control device and method |
| 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 |
| CN112051795B (en) * | 2020-08-14 | 2024-04-16 | 华南理工大学 | Spring-connected mobile multi-flexible-beam coupling vibration detection device and 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 |
| CN112092014B (en) * | 2020-08-14 | 2022-02-15 | 华南理工大学 | Flexible arm vibration detection device based on linear motion of elastic base and control method |
| CN113400348B (en) * | 2021-05-26 | 2024-01-02 | 华南理工大学 | Device and method for controlling vibration of movable and rotatable multiple flexible arms |
Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2945325B2 (en) * | 1996-06-25 | 1999-09-06 | 川崎重工業株式会社 | Hybrid actuator and vibration control device for flexible space structure |
| CN102141733A (en) * | 2010-01-28 | 2011-08-03 | 上海微电子装备有限公司 | Vibration absorption device and photolithographic device using same |
| CN102393632A (en) * | 2011-09-28 | 2012-03-28 | 华南理工大学 | Device and control method for pneumatically driving two swing piezoelectric flexible beams |
| CN104006110A (en) * | 2014-05-09 | 2014-08-27 | 华南理工大学 | Vibration measurement and control device and method of rotary flexible hinge beam |
| CN104565191A (en) * | 2015-01-22 | 2015-04-29 | 华南理工大学 | Double-intelligent flexible beam device based on driving and oscillating of planetary reducer |
| CN206833274U (en) * | 2017-03-27 | 2018-01-02 | 华南理工大学 | A kind of rotation and the double-flexibility beam control device of mobile direct drive |
-
2017
- 2017-03-27 CN CN201710187779.6A patent/CN106896851B/en not_active Expired - Fee Related
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2945325B2 (en) * | 1996-06-25 | 1999-09-06 | 川崎重工業株式会社 | Hybrid actuator and vibration control device for flexible space structure |
| CN102141733A (en) * | 2010-01-28 | 2011-08-03 | 上海微电子装备有限公司 | Vibration absorption device and photolithographic device using same |
| CN102393632A (en) * | 2011-09-28 | 2012-03-28 | 华南理工大学 | Device and control method for pneumatically driving two swing piezoelectric flexible beams |
| CN104006110A (en) * | 2014-05-09 | 2014-08-27 | 华南理工大学 | Vibration measurement and control device and method of rotary flexible hinge beam |
| CN104565191A (en) * | 2015-01-22 | 2015-04-29 | 华南理工大学 | Double-intelligent flexible beam device based on driving and oscillating of planetary reducer |
| CN206833274U (en) * | 2017-03-27 | 2018-01-02 | 华南理工大学 | A kind of rotation and the double-flexibility beam control device of mobile direct drive |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| 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 |
| CN108762198B (en) * | 2018-07-12 | 2020-05-22 | 华南理工大学 | Jack control device and method for synchronous movement of rigid movement and flexible movement |
Also Published As
| Publication number | Publication date |
|---|---|
| CN106896851A (en) | 2017-06-27 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN106896851B (en) | A kind of rotation and the mobile double-flexibility beam control device and method directly driven | |
| CN106933266B (en) | A kind of more flexible beam vibration control apparatus and method based on synchronous belt driving | |
| CN102543217B (en) | Macro-micro driven bidimensional integrated micro positioning platform | |
| CN108827571B (en) | Device and method for detecting and controlling vibration of two-degree-of-freedom flexible arm | |
| CN104440343A (en) | Co-stator double-drive macro and micro integration high-speed precision movement one-dimensional platform for linear motor | |
| CN107393599B (en) | Integrate the quick deflection platform of two dimension and method of sensing unit and confinement element | |
| CN107389287B (en) | Flexible arm vibration measurement and control device and method based on laser displacement sensor | |
| CN104565191A (en) | Double-intelligent flexible beam device based on driving and oscillating of planetary reducer | |
| CN204262872U (en) | Linear electric motors are the grand micro-integration high speed precise motion one-dimensional platform of stator Dual Drive altogether | |
| CN103023374A (en) | Inertia type piezoelectric linear motor | |
| CN110132517A (en) | A kind of more flexible piezoelectric beam coupled vibration analysis control device and methods | |
| CN201600231U (en) | Angular vibration test table based on flexible hinge mechanism | |
| CN100593698C (en) | Ultrasound electric motor universal test device | |
| CN108692900A (en) | More flexible hinged plate whirling vibration detection devices and method | |
| CN202092808U (en) | Hysteresis torque and ripple torque tester of motor | |
| CN207037493U (en) | A kind of more flexible beam vibration control apparatus based on timing belt driving | |
| CN112098024A (en) | Multi-flexible cantilever beam moving and rotating vibration analysis device and control method | |
| CN204374799U (en) | Based on the hinged flexible beam vibration control apparatus of double-movement piezoelectricity that screw mandrel drives | |
| CN102722088A (en) | Non-contact coarse-fine motion layer positioning system and motion control method thereof | |
| CN206833274U (en) | A kind of rotation and the double-flexibility beam control device of mobile direct drive | |
| CN112092014B (en) | Flexible arm vibration detection device based on linear motion of elastic base and control method | |
| CN102664566A (en) | Force-control-based magnetic levitation system and control method | |
| CN106625586B (en) | Parallel mechanism device based on linear motion unit drive and control method | |
| CN102353492A (en) | Electromagnetic thrust of linear motor and thrust fluctuation test apparatus | |
| CN114967778B (en) | Multi-flexible coupling beam vibration control device and method based on screw drive |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20181211 |
|
| CF01 | Termination of patent right due to non-payment of annual fee |