【摘要】 针对高速大范围宏运动时柔顺微操作器的微纳振动问题，建立系统动力学模型并设计改进离散滑模控制策略对微观弹性振动进行抑制。首先以气浮宏动平台和压电纤维微操作器构成的宏微操作系统为对象，结合假设模态法、拉格朗日方程和非对称迟滞模型，建立系统综合机电动力学模型。然后，在所建模型基础上设计变速趋近律调节切换增益，从而实现非线性离散滑模控制。最终搭建宏微操作系统测控平台，并进行轨迹跟踪和振动抑制试验。在轨迹跟踪时，对于不同频率的正弦参考轨迹，所设计的控制策略均能精确跟踪给定信号且误差较小；在振动抑制时，当宏动平台沿梯形与S轨迹运动时，微操作器残余振动稳定时间比改进前分别减少26.1%和50.0%,比无控制时分别缩短53.6%和53.3%。验证了动力学模型与离散滑模控制的有效性，提高了系统控制精度与效率。更多还原

【Abstract】 Here, aiming at the micro-nano vibration problem of flexible micro manipulator during high-speed and large-scale macro motion, a system dynamic model was established and an improved discrete sliding mode control strategy was designed to suppress micro elastic vibration. Firstly, taking a macro-micro manipulator system composed of an air-floating macro motion platform and a piezoelectric fiber micro manipulator as the object, combining the assumed modal method, Lagrange equation and asymmetric hysteresis model, the comprehensive electromechanical dynamic model of the system was established. Then, based on the established model, a variable speed approaching law was designed to adjust switching gain, and realize nonlinear discrete sliding mode control. Finally, a macro-micro manipulator system measuring-control platform was built to do trajectory tracking and vibration suppression experiments. It was shown that during trajectory tracking, for sinusoidal reference trajectories with different frequencies, the designed control strategy can accurately track the given signal with smaller errors; during vibration suppression, when the macro motion platform moves along trapezoid and S-trajectory, residual vibration stabilization times of micro manipulator decease by 26.1% and 50.0%, respectively compared to before improvement, they decease by 53.6% and 53.3%, respectively compared to without control; the effectiveness of the proposed dynamic model and discrete sliding mode control is verified, and the system control accuracy and efficiency are improved.更多还原