CN1325893C - Motion control and vibration control experimental system for flexible cantilever beam in noninertial system - Google Patents
Motion control and vibration control experimental system for flexible cantilever beam in noninertial system Download PDFInfo
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- CN1325893C CN1325893C CNB2004100678088A CN200410067808A CN1325893C CN 1325893 C CN1325893 C CN 1325893C CN B2004100678088 A CNB2004100678088 A CN B2004100678088A CN 200410067808 A CN200410067808 A CN 200410067808A CN 1325893 C CN1325893 C CN 1325893C
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Abstract
The present invention relates to a motion control and vibration control experimental system for a flexible cantilever beam in a non-inertial system. A piezoelectric transducer and a piezoelectric actuator which are arranged on a high-speed rotation experimental bench though a clamp are stuck on an aluminium beam, and the analog output end of a DPS control card is connected with the analog input end of a high-voltage power amplifier. The voltage output end of the high-voltage power amplifier is connected to the electrode of the piezoelectric actuator, the electrode of the piezoelectric transducer is connected to the analog input end of the DSP control card via a signal conditioning amplifier, and the connecting end of a controller of a motor motion control card is connected to the connecting end of a controller of a motor driver. The connecting end of an encoder of the motor driver is connected to the inner side of the high-speed rotation experimental bench, and the DSP control card and the motor motion control card are both inserted into an IO expansion slot of a computer. The present invention can be used for checking the correctness and the validity of a rigid flexible coupled kinetic model, and simultaneously integrate a motion control subsystem and a vibration active control subsystem; the present invention can provide an open hardware platform for the accurate positioning and the vibration control of a high-speed rotation flexible beam.
Description
Technical field
The present invention relates to a kind of motion control and vibration control experiment system, specifically is the motion control and the vibration control experiment system of flexible cantilever beam under a kind of noninertial system, is used for mechanical engineering field.
Background technology
Behind development IC, take out this mechanical model of rotation flexible cantilever beam in the process of encapsulation equipment gordian technique unit prototype system, because the concrete characteristics of IC industry, the positioning accuracy request of rotation flexible beam less than 5 μ m, and is required under high speed rotating and high acceleration start-stop operating mode it to be implemented Active Vibration Control.
Motion control and vibration control experiment system based on high speed, high acceleration rotation flexible cantilever beam, encapsulate the mechanics new phenomenon of gordian technique unit under limiting condition after can disclosing IC, intensification is for the existing theoretical understanding of flexible multi-body system dynamics, promote the further investigation of people, a new level is brought up in the motion control of rotation flexible cantilever beam and the research level of vibration control for hard and soft Coupled Dynamics Modeling Theory.Up to now, the rarely seen report of experimental study at high speed rotating flexible cantilever beam " power is just changed " problem, research about rotation flexible cantilever beam ACTIVE CONTROL experiment aspect lags far behind the development of theoretical research especially, thereby greatly limited these theoretical research result is applied in the many control system with flexible structure of the spacecraft etc. of robot, mechanical arm, lifting airscrew and band flexible appendage.
Find through literature search prior art, people such as Yang Hui are at " mechanics journal ", 2004,36 (1): " power has just been changed the experimental study of problem " of delivering on 118～124, the document has designed a single shaft air supporting rotation flexible beam experimental system, adopt satellite sailboard full physical simulation experimental facilities, mainly be made up of single-axle air bearing table, flexible beam and inductosyn etc., the damping at bearing place was very little when platform rotated.The single-axle air bearing table celestial body partly is equivalent to one can be around the rigid body of central shaft rotation, and flexible aluminium beam is fixed on a certain position of rigidity aluminum alloy frame on the celestial body.Experimental system adopts the magnetic induction synchronizer to measure the corner of air floating table stage body, and is transferred to ground-based computer through the over-angle digital display meter.This system designs for mock-up with the spacecraft of low resistance, band flexible appendage, and angular velocity of rotation is relatively low, can be used for verifying the correctness of hard and soft Coupled Dynamics modeling method, discloses some vibration characteristics of whole hard and soft coupled system.Yet this experimental provision can't satisfy the requirement of the theoretical research of the motion control of present rotation flexible cantilever beam and vibration control to experimental provision: do not have acting device on the flexible beam, can't realize Active Vibration Control; Rotatablely moving of air floating table celestial body part is not subjected to the control of feedback channel, can't realize the motion control and the accurate location of flexible beam; Total system is operated under the low speed operating mode, the experimental study that can't be applied at a high speed, high acceleration rotates flexible beam.
Summary of the invention
The objective of the invention is to overcome deficiency of the prior art, flexible cantilever beam motion control and vibration control experiment system under a kind of noninertial system are provided, make it can be used for verifying the Modeling Theory of hard and soft Coupled Dynamics, disclose the mechanics new phenomenon of rotation flexible beam under the dynamics of hard and soft coupled system and the high acceleration start-stop operating mode, the more important thing is, this system can realize sharing of motor message and vibration signal and fusion on computers, thereby is convenient to implement the accurate location and the vibration control of flexible beam under the noninertial system.
The present invention is achieved through the following technical solutions, and the present invention includes: high-voltage power amplifier, piezoelectric sensor, piezoelectric actuator, aluminium beam, anchor clamps, high speed rotating experiment table, motor driver, the motor movement control card based on pci bus, computing machine, based on the DSP control card and the signal condition amplifier of pci bus.Paste piezoelectric sensor and piezoelectric actuator on the aluminium beam, and be arranged on the high speed rotating experiment table by anchor clamps, the analog output of DSP control card connects the analog input end of high-voltage power amplifier, the voltage output end of high-voltage power amplifier is received on the electrode of piezoelectric actuator, the electrode of piezoelectric sensor is received the analog input end of DSP control card through the signal condition amplifier, the controller of motor movement control card connects the controller link of termination motor driver, the scrambler link of motor driver is connected in the high speed rotating experiment table, the IO expansion slot of all inserting computing machine based on the DSP control card and the motor movement control card of pci bus.
The present invention is the center with the computing machine, mainly is divided into two parts: the rotation flexible beam motion control subsystem that a part is formed by high speed rotating experiment table, motor driver, based on the servomotor motion control card and the computing machine of pci bus; The Active Vibration Control of Flexible Beam subsystem that another part is formed by piezoelectric sensor and actuator, high-voltage power amplifier, signal condition amplifier, based on the DSP control card and the computing machine of pci bus.The effect of first is to realize high speed rotary motion and high acceleration start-stop, excites the elastic vibration of flexible beam, and the motion control instruction of object computer is fed back the motor message of motor in real time; The effect of second portion is the elastic vibration that initiatively suppresses flexible beam, the vibration control instruction of object computer, the elastic vibration signal of output flexible beam.Its signal transitive relation is: motion control subsystem and vibration control subsystem pass to computing machine with motor message and vibration signal respectively, information sharing and fusion by computer realization motor message and vibration signal, respectively to motion control subsystem and vibration control subsystem output movement control signal and oscillation control signal, vibration control and motion control synchronization implementation are to realize the accurate location and the vibration control of rotation flexible beam then.
Described high speed rotating experiment table is that high-performance AC servo motor, transmission shaft, mounting disc and the support of 3000rpm formed by maximum speed.For improving the rigidity of system, mounting disc and transmission shaft are designed to one.AC servo motor is arranged on the support, and the aluminium beam is arranged on the transmission shaft by the anchor clamps in the mounting disc, and AC servo motor drives the rotation of flexible aluminium deck-molding speed via transmission shaft.The scrambler link of motor driver is connected to the scrambler of the AC servo motor in the high speed rotating experiment table, and the motor splicing ear of motor driver and the motor cable of AC servo motor are connected.Here select for use the high-performance AC servo motor producing instantaneous high pulling torque, and moment of torsion output is stable, can drives flexible beam and realize high speed rotary motion and high acceleration start-stop, satisfy pinpoint requirement; Obtain the angular displacement of motor and feed back to the motor movement control card by the embedded photoelectric code disk of motor through motor driver, can obtain magnitude of angular velocity to the angular displacement that measures after numerical differentiation and data smoothing processing, the motor movement control card feeds back to computing machine with these motor messages; Paste piezoceramic material on the aluminium beam, can realize the sensing of vibration signal and implement Active Vibration Control as sensor and actuator; In the mounting disc fixedly nipper flexible beam is horizontally disposed with or vertically is provided with.
The present invention has substantive distinguishing features and marked improvement, and the present invention can be used for checking the correctness and the validity of hard and soft Coupled Dynamics model, promotes the further investigation of people for hard and soft Coupled Dynamics Modeling Theory; Simultaneously, motion control subsystem that the present invention is integrated and Active Vibration Control subsystem provide the hardware platform of an opening for the experimental study of the accurate location of high speed rotating flexible beam and vibration control.
Description of drawings
Fig. 1 structural representation of the present invention
Fig. 2 signal transitive relation of the present invention block diagram
Fig. 3 high speed rotating experiment table of the present invention structural representation
Embodiment
As shown in Figure 1, the present invention includes: high-voltage power amplifier 1, aluminium beam 2, piezoelectric actuator 3, piezoelectric sensor 4, anchor clamps 5, high speed rotating experiment table 6, motor driver 7, motor movement control card 8, computing machine 9, based on the DSP control card 10 and the signal condition amplifier 11 of pci bus based on pci bus.Paste piezoelectric sensor 4 and piezoelectric actuator 3 on the aluminium beam 2, and be arranged on the high speed rotating experiment table 6 by anchor clamps 5, the analog output of DSP control card 10 connects the analog input end of high-voltage power amplifier 1, the voltage output end of high-voltage power amplifier 1 is received on the electrode of piezoelectric actuator 3, the electrode of piezoelectric sensor 4 is received the analog input end of DSP control card 10 through signal condition amplifier 11, the controller of motor movement control card 8 connects the controller link of termination motor driver 7, the scrambler link of motor driver 7 is connected in the high speed rotating experiment table 6, based on the motor movement control card 8 of pci bus, DSP control card 10 all inserts the IO expansion slot of computing machine 9.
As shown in Figure 2, the present invention can be divided into two parts by the signal transitive relation, wherein high speed rotating experiment table 6, motor driver 7, based on the servomotor motion control card 8 and the computing machine 9 component movement control subsystem of pci bus; Piezoelectric sensor 4 and piezoelectric actuator 3, high-voltage power amplifier 1, signal condition amplifier 11, form the vibration control subsystems based on the DSP control card 10 and the computing machine 9 of pci bus.Motion control signal and oscillation control signal pass to computing machine 9 by motion control subsystem and vibration control subsystem respectively, after machine 9 is handled as calculated, computing machine 9 sends motion control signal and vibration control oscillation control signal for respectively motion control subsystem and vibration control subsystem, thereby realizes the accurate location and and the Active Vibration Control of rotation flexible beam.
The oscillation control signal that DSP control card 10 sends is given piezoelectric actuator 3 via high-voltage power amplifier 1, and the transducing signal of piezoelectric sensor 4 is passed to DSP control card 10 via signal condition amplifier 11.Motor movement control card 8 is realized two-way communication through motor driver 7 and high speed rotating experiment table 6: motor movement control card 8 sends motion control signal, experiment table 6 real-time return movement signals for experiment table 6.DSP control card 10 and motor movement control card 8 are realized sharing of oscillation control signal and motion control signal and are merged in computing machine 9.
As shown in Figure 3, high speed rotating experiment table 6 comprises: mounting disc 12, transmission shaft 13, support 14 and AC servo motor 15; Aluminium beam 2 is arranged in the mounting disc 12 by anchor clamps 5, mounting disc 12 and transmission shaft 13 are connected, and support 14 fixes on the ground, and AC servo motor 15 is provided with on the support 14, and, realize high speed rotary motion and high acceleration start-stop via transmission shaft 13 driving aluminium deck-molding speed rotations.
The scrambler link of motor driver 7 is connected to the scrambler of the AC servo motor 15 in the high speed rotating experiment table 6, and the motor splicing ear of motor driver 7 is connected with the motor cable of AC servo motor 15.
Claims (3)
1, the motion control of flexible cantilever beam and vibration control experiment system under a kind of noninertial system, comprise: high-voltage power amplifier (1), aluminium beam (2), piezoelectric sensor (4), anchor clamps (5), high speed rotating experiment table (6), motor driver (7), computing machine (9) and signal condition amplifier (11), it is characterized in that, also comprise: piezoelectric actuator (3), motor movement control card (8) based on pci bus, DSP control card (10) based on pci bus, aluminium beam (2) is gone up and is pasted piezoelectric sensor (4) and piezoelectric actuator (3), and be arranged on the high speed rotating experiment table (6) by anchor clamps (5), the analog output of DSP control card (10) connects the analog input end of high-voltage power amplifier (1), the voltage output end of high-voltage power amplifier (1) is received on the electrode of piezoelectric actuator (3), the electrode of piezoelectric sensor (4) is received the analog input end of DSP control card (10) through signal condition amplifier (11), the controller of motor movement control card (8) connects the controller link of termination motor driver (7), the scrambler link of motor driver (7) is connected in the high speed rotating experiment table (6), the IO expansion slot of all inserting computing machine (9) based on the DSP control card (10) and the motor movement control card (8) of pci bus.
2, the motion control of flexible cantilever beam and vibration control experiment system under the noninertial system according to claim 1, it is characterized in that, high speed rotating experiment table (6) comprising: mounting disc (12), transmission shaft (13), support (14) and AC servo motor (15), aluminium beam (2) is arranged in the mounting disc (12) by anchor clamps (5), mounting disc (12) and transmission shaft (13) are connected, support (14) fixes on the ground, and AC servo motor (15) is arranged on the support (14).
3, according to the motion control and the vibration control experiment system of flexible cantilever beam under claim 1 or the 2 described noninertial systems, it is characterized in that, the scrambler link of motor driver (7) is connected to the scrambler of the AC servo motor (15) in the high speed rotating experiment table (6), and the motor splicing ear of motor driver (7) is connected with the motor cable of AC servo motor (15).
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| Application Number | Priority Date | Filing Date | Title |
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| CNB2004100678088A CN1325893C (en) | 2004-11-04 | 2004-11-04 | Motion control and vibration control experimental system for flexible cantilever beam in noninertial system |
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| CNB2004100678088A CN1325893C (en) | 2004-11-04 | 2004-11-04 | Motion control and vibration control experimental system for flexible cantilever beam in noninertial system |
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| CN1603770A CN1603770A (en) | 2005-04-06 |
| CN1325893C true CN1325893C (en) | 2007-07-11 |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101414797B (en) * | 2008-12-03 | 2010-05-12 | 西安交通大学 | Piezoelectricity actuator with large displacement and large impulse force |
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| CN102393632B (en) * | 2011-09-28 | 2013-07-03 | 华南理工大学 | Device and control method for pneumatically driving two swing piezoelectric flexible beams |
| CN102636993A (en) * | 2012-04-19 | 2012-08-15 | 徐州工程学院 | Method for restraining flexible arm tail end vibration of robot |
| CN102889969A (en) * | 2012-09-20 | 2013-01-23 | 国家电网公司 | Motor vibration monitoring system |
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| CN103528804B (en) * | 2013-07-27 | 2017-03-15 | 中广核工程有限公司 | Flexible shaft performance characteristic test device |
| CN103558002B (en) * | 2013-09-23 | 2016-07-06 | 广东工业大学 | A kind of flexible beam tip vibration characteristic test device and method of testing |
| CN103792057B (en) * | 2014-03-10 | 2016-08-17 | 西安交通大学 | A kind of adjustable backlash nonlinearity development test platform and using method thereof |
| CN106856384B (en) * | 2015-12-08 | 2019-08-23 | 上海宇航系统工程研究所 | Big flexible load servo-control system test and evaluation device |
| CN106314832B (en) * | 2016-09-06 | 2019-05-14 | 华南理工大学 | More flexible cantilever beam coupled vibrations measure and control devices and method based on single-axle air bearing table |
| CN106297509B (en) * | 2016-10-21 | 2023-01-24 | 成都乐创自动化技术股份有限公司 | Performance demonstration system of alternating current servo system |
| CN106773687B (en) * | 2016-12-13 | 2023-10-03 | 西南交通大学 | Active vibration control system and method for flexible cantilever structure |
| CN110567358B (en) * | 2019-08-26 | 2021-03-09 | 中国美术学院 | Method and device for measuring diameter by double-acting cantilever beam sensor |
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|---|---|---|---|---|
| US3948087A (en) * | 1973-10-05 | 1976-04-06 | Agency Of Industrial Science & Technology | Vibration apparatus for minute vibrations |
| CN1089030A (en) * | 1992-12-30 | 1994-07-06 | 林易人 | Method for detecting resonant frequency of vibration processing part |
| US5703294A (en) * | 1995-12-29 | 1997-12-30 | Iowa State University Research Foundation | Method of evaluating the vibration characteristics of a sporting implement such as a golf club |
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Non-Patent Citations (3)
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| CN101414797B (en) * | 2008-12-03 | 2010-05-12 | 西安交通大学 | Piezoelectricity actuator with large displacement and large impulse force |
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