CN112098024A - Multi-flexible cantilever beam moving and rotating vibration analysis device and control method - Google Patents
Multi-flexible cantilever beam moving and rotating vibration analysis device and control method Download PDFInfo
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- CN112098024A CN112098024A CN202010816621.2A CN202010816621A CN112098024A CN 112098024 A CN112098024 A CN 112098024A CN 202010816621 A CN202010816621 A CN 202010816621A CN 112098024 A CN112098024 A CN 112098024A
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- G01M7/00—Vibration-testing of structures; Shock-testing of structures
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- G01M7/022—Vibration control arrangements, e.g. for generating random vibrations
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Abstract
The invention discloses a multi-flexible cantilever beam moving, rotating and vibrating analysis device and a control method, wherein the multi-flexible cantilever beam moving, rotating and vibrating analysis device comprises a multi-flexible cantilever beam body part, a transmission part and a control part, wherein the multi-flexible cantilever beam body part comprises a plurality of flexible beams which are arranged on an extension arm through a clamping block, and piezoelectric ceramic plates are adhered on the flexible beams and provided with mass blocks; the transmission part comprises a servo motor, a coupler, a lead screw guide rail and a speed reducer; the control part comprises a piezoelectric driver, a servo motor driver, a motion control card, a computer and the like. The computer controls the servo motor to move and rotate, the flexible beam further generates vibration, and the signal detected by the position sensitive detector is utilized to output a control signal through a certain algorithm so as to inhibit the vibration of the flexible beam.
Description
Technical Field
The invention relates to the field of flexible cantilever beam vibration control, in particular to a multi-flexible cantilever beam movement rotation vibration analysis device and a control method.
Background
The flexible structure is widely applied in the fields of aerospace and industrial production, has the advantages of light weight, low energy consumption, high efficiency, flexible operation and the like, but the natural frequency of the flexible structure is low, low-frequency modal vibration is easy to excite, and a transmission chain such as a speed reducer has gaps, so that the rigid-flexible coupling condition can be caused, and the application and the development of the flexible structure in certain fields are limited. In aerospace machinery such as international space stations, multiple flexible beams exist, and therefore vibration characteristics and active control of the multiple flexible beams are always one of the key points and hot spots of world research.
The servo motor has the advantages of high control precision, quick response, wide speed regulation range, good dynamic characteristic, simple and convenient operation, capability of positioning and servo and the like. The servo motor driver is utilized to control the rotation frequency of the servo motor, signals in different forms are produced, vibration of the multi-flexible beam structure can be stimulated, and vibration reduction control can also be participated.
In the prior art, the research on multiple flexible beams mainly adopts piezoelectric patches and the like for detection and control, but the piezoelectric patches are difficult to replace and difficult to maintain after being adhered. The position sensitive detector belongs to a semiconductor device, is generally made into a PN structure, and has the advantages of high sensitivity, high resolution, high response speed, simple configuration circuit and the like. The working principle is based on the lateral photoelectric effect. As a new type of device, position sensitive detectors have been widely used for accurate measurement of position coordinates.
Disclosure of Invention
In order to overcome the defects and shortcomings of the prior art, the invention provides a multi-flexible cantilever beam movement and rotation vibration analysis device, which is used for realizing multi-flexible beam vibration analysis and control.
The invention provides a control method of a multi-flexible cantilever beam moving rotary vibration analysis device.
The invention adopts the following technical scheme:
a multi-flexible cantilever beam moving rotary vibration analysis device comprises a multi-flexible cantilever beam body part, a transmission part and a control part;
the multi-flexible cantilever beam body part comprises two horizontally placed extension arms, one ends of the two extension arms are connected, three flexible beams are respectively installed at the other end of each extension arm, the directions of the three flexible beams are respectively vertical upward, vertical downward and horizontal directions, one end of each flexible beam is a fixed end, and the other end of each flexible beam is a free end;
a piezoelectric sensor and a piezoelectric actuator are adhered to each flexible beam close to the fixed end, and a position sensitive detector is arranged at the free end of each flexible beam;
the transmission part comprises a moving transmission chain for driving the flexible beam to move and a rotating transmission chain for driving the flexible beam to rotate;
the control part is used for receiving vibration information of the piezoelectric sensor and the position sensitive detector, obtaining a control signal according to a preset track to drive the movable transmission chain and the rotary transmission chain, and further controlling the flexible beam; and receiving vibration information of the piezoelectric sensor and the position sensitive detector to obtain a control signal to drive the piezoelectric actuator so as to inhibit the flexible beam from vibrating.
The movable transmission chain comprises a first servo motor, a coupler, a lead screw guide rail, a bent plate and a connecting plate, wherein the first servo motor is connected with the lead screw guide rail through the coupler, a sliding block of the lead screw guide rail is connected with the connecting plate, and the bent plate is fixed on the connecting plate.
The rotary transmission chain comprises a second servo motor, a speed reducer and a connecting block, the second servo motor is fastened with the connecting block through the speed reducer, and one ends of the two extension arms are fixed to two sides of the connecting block.
Preferably, the laser device is arranged on the extension arm, each position sensitive detector corresponds to one laser device, and a laser plane emitted by the laser device is adjusted to be perpendicular to the position sensitive detectors and irradiates the middle of the position sensitive detectors.
Preferably, the number of the piezoelectric sensors on each flexible beam is one, the pose of each piezoelectric sensor is the same as the orientation of each flexible beam, and the piezoelectric sensors are stuck on one side.
Preferably, the number of the piezoelectric actuators on each flexible beam is four, the poses of the piezoelectric actuators are the same as the orientations of the flexible beams, the piezoelectric actuators are symmetrically adhered to two sides of each flexible beam, and each flexible beam is provided with two pieces.
Preferably, each flexible beam is provided with a position sensitive detector, and the pose of the position sensitive detector is perpendicular to the plane of the flexible beam.
Preferably, the control part comprises a charge amplifier, a piezoelectric driver, a first servo motor driver, a second servo motor driver, a terminal board, a motion control card and a computer, wherein the computer is connected with the motion control card, the motion control card is connected with the terminal board, and the terminal board is connected with the first and second servo motor drivers;
the piezoelectric sensor collects vibration information, the vibration information is transmitted to the charge amplifier, the vibration information is input into the computer through the terminal board and the motion control card, and after the computer obtains a control signal, the vibration information is output to the piezoelectric driver, the first servo motor driver and the second servo motor driver through the motion control card and the terminal board to further control the flexible beam.
Preferably, the laser is a line laser.
A control method of a rotary vibration analysis device based on multi-flexible cantilever beam movement comprises the following steps:
the first step is as follows: the computer outputs a preset track route control signal, the preset track route control signal is transmitted to the first servo motor and the second servo motor through the motion control card, corresponding motion is generated, and the flexible beam causes vibration;
the second step is that: measuring a vibration signal by using a piezoelectric sensor and a position sensitive detector;
the third step: according to the detection signal obtained in the second step, the computer obtains corresponding control quantity, the control quantity is output to the piezoelectric actuator through the motion control card, and the control quantity acts on the piezoelectric actuator to suppress the vibration of the flexible beam;
the fourth step: and returning to the first step by changing the control parameters, and repeatedly testing to obtain a plurality of experimental results to obtain the vibration characteristics and the control effect of the multi-flexible moving beam.
The invention has the beneficial effects that:
(1) the multi-flexible cantilever beam movement and rotation experimental device and the control method thereof adopt the position sensitive detector, and have the advantages of high sensitivity, high resolution, high response speed, simple configuration circuit and the like;
(2) the invention adopts the lead screw guide rail mechanism, and has the advantages of high transmission efficiency, large speed ratio, stable transmission, convenient maintenance and the like;
(3) according to the invention, the gravity influence and the flutter phenomenon existing in the servo motor are fully considered, and the rigid-flexible coupling existing between the flexible beam and the rotating mechanism provides a good hardware condition for researching the influence of nonlinear factors on vibration control;
(4) according to the invention, a multi-sensor system is adopted, and the vibration of the multi-flexible piezoelectric beam coupling structure can be researched through multi-sensor information fusion;
(5) the adjustable and replaceable structure is adopted in the invention, so that the building and maintenance of the experiment table are facilitated.
Drawings
FIG. 1 is a schematic diagram of the general structure of the present invention;
FIG. 2 is a front view of FIG. 1;
FIG. 3 is a top view of FIG. 1;
FIG. 4 is a right side view of FIG. 1;
FIG. 5 is a partial view of FIG. 4 showing the distribution of piezoelectric actuators, piezoelectric sensors, and masses.
Detailed Description
The present invention will be described in further detail with reference to examples and drawings, but the present invention is not limited to these examples.
Examples
As shown in fig. 1-5, a multi-flexible cantilever beam moving rotary vibration analysis device is arranged on a base 1 of a laboratory bench, and comprises a multi-flexible cantilever beam body part, a transmission part and a control part;
-the multi-flexible cantilever body portion comprises:
the multi-flexible cantilever beam body part comprises two horizontally placed extension arms 8, one ends of the two extension arms are fastened by bolts through clamping blocks 19, three flexible beams 13 are installed at the other end of each extension arm respectively, the orientations of the three flexible beams are respectively vertical upward, vertical downward and horizontal, the materials and the structures of the six flexible beams are the same, the flexible beams are fixed ends and free ends, and the mass blocks are installed at the positions, 50mm away from the free ends, of the flexible beams.
Each flexible beam is adhered with a piezoelectric sensor 17 and a position sensitive detector 14 for detecting vibration signals.
Each flexible beam is provided with a piezoelectric actuator for damping vibration of the flexible beam.
The number of the piezoelectric sensors on each flexible beam is 1, the pose of each piezoelectric sensor is the same as the orientation of the flexible beam, and the piezoelectric sensors are adhered to one side of the flexible beam; the piezoelectric sensor 17 is located at the middle portion in the width direction, and the side surface is 100mm away from the fixed end surface.
The number of the piezoelectric actuators on each flexible beam is 4, the poses of the piezoelectric actuators are the same as the orientations of the flexible beams, and the piezoelectric actuators are pasted on two sides of the flexible beams; the distance between the centers of the 2 piezoelectric actuators 18 on the same plane is 50mm, the two piezoelectric actuators are symmetrical up and down, and the distance between the side face and the fixed end face is 30 mm.
The number of the position sensitive detectors on each flexible beam is 1, and the position and posture of each position sensitive detector are vertical to the plane of the flexible beam 13; the position of the flexible beam can be adjusted on the beam and is clamped through a set screw, and the position sensitive detector is fixed at one end of the flexible beam through the position sensitive detector frame.
A mass 16 is provided at the end of each flexible beam.
The extension arm is further provided with lasers 12, the lasers correspond to the position sensitive detectors one by one and are fixed through the laser support 9 through set screws, each beam corresponds to one laser, and a laser plane emitted by each laser is adjusted to be perpendicular to the position sensitive detectors and irradiates the middle of the position sensitive detectors.
The transmission part comprises a mobile transmission chain and a rotary transmission chain
The movable transmission chain comprises a first servo motor 2, a coupler 3, a lead screw guide rail 4 and the like, the first servo motor is connected with the lead screw guide rail through the coupler, a sliding block of the lead screw guide rail is connected with a connecting plate 5, and a bent plate 6 is fixed on the connecting plate 5.
The rotating chain comprises a second servo motor 11, a speed reducer 10 and a connecting block 7, the second servo motor and the speed reducer are arranged on the bending plate, and therefore the purpose of controlling the flexible beam to move can be achieved by controlling the first servo motor.
The second servo motor 11 outputs power through the reducer 10; the output end of the speed reducer is fastened with the connecting block 7 by screws; two extension arms 8 are fixed on two sides of the connecting block 7 by bolts; therefore, the purpose of controlling the rotation of the flexible beam can be achieved by controlling the second servo motor.
The control part comprises a charge amplifier 20, a signal processing circuit 21, a piezoelectric driver 22, a first servo motor driver 23, a second servo motor driver 24, a terminal board 25, a motion control card 26 and a computer 27.
After the flexible beam moves or rotates, the flexible beam generates vibration due to the characteristics of the flexible beam, and after the piezoelectric sensor measures a vibration signal, the vibration signal is transmitted to the charge amplifier; the terminal board is connected into the motion control card, and the A/D conversion port of the motion control card is used for conversion and transmission to a computer, so that a vibration signal is obtained;
after the flexible beam vibrates, the laser irradiates the position of the position sensitive detector to change, so that photocurrent is generated and transmitted to the signal processing circuit 21 for processing; then, the motion control card 26 is connected through the terminal board 25, and the vibration signal is converted and transmitted to the computer 27 through the a/D conversion port of the motion control card 26.
The computer controls the movement of the experimental device by transmitting a control signal to a D/A module of a motion control card according to a preset track, then outputting the control signal to a first servo motor driver through a terminal board, and controlling a first servo motor 2 by adopting a position control mode or a speed control mode so as to achieve the movement control of the multi-flexible beam device;
the computer controls the rotation of the experimental device by transmitting a control signal to the D/A module of the motion control card according to a preset track, then outputting the control signal to the second servo motor driver through the terminal board, and controlling the second servo motor 11 by adopting a position control mode or a speed control mode so as to achieve the rotation control of the multi-flexible beam device.
The computer controls the piezoelectric actuator by utilizing the collected vibration information and generating a corresponding control signal for the piezoelectric actuator through a certain algorithm; after D/A conversion on the motion control card, the control quantity is transmitted to the piezoelectric driver 22 through a terminal board, and finally the control quantity is output to the piezoelectric actuator 18, so that the vibration of the flexible board can be suppressed.
A multi-flexible cantilever beam movement and rotation experimental device and a vibration control method thereof comprise the following steps:
the first step is as follows: the computer outputs a preset track route control signal, the preset track route control signal is transmitted to the first servo motor and the second servo motor through the motion control card, corresponding motion is generated, and the flexible beam causes vibration;
the second step is that: measuring a vibration signal by using a piezoelectric sensor and a position sensitive detector;
the laser projects laser to a position sensitive detector to generate two photocurrents Ix1And Ix2The photocurrent corresponds to the position of the light spot on the position sensitive detector (the position on the surface, and the light spot off-center position x can be calculated by the following equations (1) to (4):
wherein L is the effective length of the position sensitive detector; i is0＝Ix1+Ix2Is full light current;
the third step: according to the detection signal obtained in the second step, the computer generates corresponding control quantity through a certain algorithm, the control quantity is output to the piezoelectric actuator through the motion control card, and the control quantity acts on the piezoelectric actuator to suppress the vibration of the flexible beam;
the fourth step: and returning to the first step by changing the control parameters, and repeatedly testing to obtain a plurality of experimental results to obtain the vibration characteristics and the control effect of the multi-flexible moving beam.
In this embodiment, the flexible beam may be made of thin epoxy resin material plate with a geometric dimension of 600mm × 100mm × 2 mm. Young's modulus of epoxy resin is Ep26.3GPa and the density rho 1980kg/m3。
The base of the experiment table is assembled by three aluminum profiles with the lengths of 950mm, 480mm and 500mm respectively, and the table top is a 1070mm multiplied by 600mm multiplied by 10mm stainless steel plate; the steel plate is connected with the section bar through screws, and each connecting part of the section bar is fixed by angle iron.
The lead screw guide rail is a KK86 module of a silver module in Taiwan, the total length is 840mm, and the track length is 740 mm;
the first servo motor adopts Anchuan SGM7A-02A _ A6C, the diameter of a rotating shaft of the first servo motor is 14mm, the power of the first servo motor is 200W, and the rated voltage of the first servo motor is AC 200V; the second servo motor adopts Anchuan SGM7A-C2A _ A6C, the diameter of a rotating shaft of the second servo motor is 8mm, the power of the second servo motor is 150W, and the rated voltage of the second servo motor is AC 200V; the first servo motor driver and the second servo motor driver are both Anchuan servo motor drivers with the model number of SGM7S-1R 6A. The reducer is an APEX reducer with the model number of AD0902-P0403200101 and the reduction ratio of 100.
The position sensitive detector adopts DRX-1DPSD-75AMD with a signal processing circuit.
The charge amplifier is YE5850 type charge amplifier of Jiangsu Union energy electronic limited.
The motion control card selects DMC-2x00 digital motion controller produced by GALIL corporation in America, and provides standard PCI bus interface; the CPU model of the selected computer is Pentium G6202.6 GHz. And the memory 4G is provided with a PCI slot in the mainboard and can be provided with a motion control card. The display adopts a large display area VA249 HE.
The piezoelectric sensor is made of piezoelectric ceramic materials, and the geometric dimension of the piezoelectric sensor is 30mm multiplied by 10mm multiplied by 1 mm; the piezoelectric actuator is made of piezoelectric ceramic materials, and the geometric dimension of the piezoelectric actuator is 50mm multiplied by 15mm multiplied by 1 mm; the modulus of elasticity of the piezoceramic material is Epe＝63GPa，d31＝-166pm/V。
The piezoelectric driver can be composed of parts such as piezoelectric amplifiers with the models of APEX-PA241DW or APEX-PA240CX, and the like, and the development unit is the university of southern China, and the device and the method are applied by the applicant and named as space sailboard bending and torsional mode vibration simulation active control device and method, and are described in detail in the patent with the application number of 200810027186.4. The amplification factor can reach 52 times, namely, the amplification factor is increased from minus 5V to +5V to minus 260 to + 260V.
The above embodiments are preferred embodiments of the present invention, but the present invention is not limited to the above embodiments, and any other changes, modifications, substitutions, combinations, and simplifications which do not depart from the spirit and principle of the present invention should be construed as equivalents thereof, and all such changes, modifications, substitutions, combinations, and simplifications are intended to be included in the scope of the present invention.
Claims (10)
1. A multi-flexible cantilever beam moving rotary vibration analysis device is characterized by comprising a multi-flexible cantilever beam body part, a transmission part and a control part;
the multi-flexible cantilever beam body part comprises two horizontally placed extension arms, one ends of the two extension arms are connected, three flexible beams are respectively installed at the other end of each extension arm, the directions of the three flexible beams are respectively vertical upward, vertical downward and horizontal directions, one end of each flexible beam is a fixed end, and the other end of each flexible beam is a free end;
a piezoelectric sensor and a piezoelectric actuator are adhered to each flexible beam close to the fixed end, and a position sensitive detector is arranged at the free end of each flexible beam;
the transmission part comprises a moving transmission chain for driving the flexible beam to move and a rotating transmission chain for driving the flexible beam to rotate;
the control part is used for receiving vibration information of the piezoelectric sensor and the position sensitive detector, obtaining a control signal according to a preset track to drive the movable transmission chain and the rotary transmission chain, and further controlling the flexible beam; and receiving vibration information of the piezoelectric sensor and the position sensitive detector to obtain a control signal to drive the piezoelectric actuator so as to inhibit the flexible beam from vibrating.
2. The multi-flexible-cantilever moving rotary vibration analysis device as claimed in claim 1, wherein the moving transmission chain comprises a first servo motor, a coupler, a lead screw guide rail, a bending plate and a connecting plate, the first servo motor is connected with the lead screw guide rail through the coupler, a slide block of the lead screw guide rail is connected with the connecting plate, and the bending plate is fixed on the connecting plate.
3. The multi-flexible-cantilever-beam-moving rotary vibration analysis device as claimed in claim 2, wherein the rotary transmission chain comprises a second servo motor, a reducer and a connecting block, the second servo motor is fastened with the connecting block through the reducer, and one end of each of the two extension arms is fixed on two sides of the connecting block.
4. The multi-flexible-cantilever mobile rotary vibration analysis device as claimed in claim 1, further comprising a laser, wherein the laser is mounted on the elongated arm, one laser is corresponding to each position-sensitive detector, and the laser plane emitted by the laser is adjusted to be perpendicular to the position-sensitive detectors and to irradiate the middle of the position-sensitive detectors.
5. The multi-flexible-cantilever-beam moving rotary vibration analysis device as claimed in claim 1, wherein the number of the piezoelectric sensors on each flexible beam is one, the pose of each piezoelectric sensor is the same as the orientation of the flexible beam, and the piezoelectric sensors are stuck on one surface of the flexible beam.
6. The multi-flexible-cantilever-beam moving rotary vibration analysis device as claimed in claim 1, wherein the number of the piezoelectric actuators on each flexible beam is four, the poses of the piezoelectric actuators are the same as the orientations of the flexible beams, the piezoelectric actuators are symmetrically pasted on two sides, and each side is provided with two pieces.
7. The multi-flexible-cantilever mobile rotary vibration analyzer as claimed in claim 1, wherein each flexible beam is mounted with a position-sensitive detector oriented perpendicular to the plane of the flexible beam.
8. The multi-flexible-cantilever mobile rotary vibration analysis device as claimed in claim 3, wherein the control part comprises a charge amplifier, a piezoelectric driver, a first servo motor driver, a second servo motor driver, a terminal board, a motion control card and a computer, the computer is connected with the motion control card, the motion control card is connected with the terminal board, and the terminal board is connected with the first and second servo motor drivers;
the piezoelectric sensor collects vibration information, the vibration information is transmitted to the charge amplifier, the vibration information is input into the computer through the terminal board and the motion control card, and after the computer obtains a control signal, the vibration information is output to the piezoelectric driver, the first servo motor driver and the second servo motor driver through the motion control card and the terminal board to further control the flexible beam.
9. The multi-flexible-cantilever mobile rotary vibration analysis device according to claim 4, wherein the laser is a line laser.
10. A control method of a multi-flexible-cantilever moving rotary vibration analysis apparatus according to any one of claims 1 to 9, comprising the steps of:
the first step is as follows: the computer outputs a preset track route control signal, the preset track route control signal is transmitted to the first servo motor and the second servo motor through the motion control card, corresponding motion is generated, and the flexible beam causes vibration;
the second step is that: measuring a vibration signal by using a piezoelectric sensor and a position sensitive detector;
the third step: according to the detection signal obtained in the second step, the computer obtains corresponding control quantity, the control quantity is output to the piezoelectric actuator through the motion control card, and the control quantity acts on the piezoelectric actuator to suppress the vibration of the flexible beam;
the fourth step: and returning to the first step by changing the control parameters, and repeatedly testing to obtain a plurality of experimental results to obtain the vibration characteristics and the control effect of the multi-flexible moving beam.
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| CN114967778A (en) * | 2022-05-12 | 2022-08-30 | 华南理工大学 | Multi-flexible coupling beam vibration control device and method based on lead screw driving |
| AU2023202275B1 (en) * | 2023-04-13 | 2023-06-29 | Shandong University Of Science And Technology | Reliability Experimental Device Based on Structural Dynamics |
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| CN113400348A (en) * | 2021-05-26 | 2021-09-17 | 华南理工大学 | Movable and rotatable multi-flexible-arm vibration control device and method |
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| CN114967778A (en) * | 2022-05-12 | 2022-08-30 | 华南理工大学 | Multi-flexible coupling beam vibration control device and method based on lead screw driving |
| CN114967778B (en) * | 2022-05-12 | 2023-04-21 | 华南理工大学 | Multi-flexible coupling beam vibration control device and method based on screw drive |
| AU2023202275B1 (en) * | 2023-04-13 | 2023-06-29 | Shandong University Of Science And Technology | Reliability Experimental Device Based on Structural Dynamics |
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