【摘要】 以设计高速精密并联机构为目标,分析了平面2自由度并联机构弹性振动的动力响应,针对构件振动的主要型态,提出振动主动控制的措施,建立了机构弹性振动主动控制的状态空间模型。基于最优控制理论,兼顾系统响应速度及控制能量两个方面,提出衡量控制品质优劣的泛函型性能指标,实现了机构弹性振动的最优主动控制。结果表明,这种最优主动控制策略较大幅度的降低了机构弹性振动的水平,提高了机构末端点的定位精度和运动精度,且控制能量的变化范围及幅值小,工程上容易实现。更多还原

【Abstract】 In order to design high-speed precision parallel mechanism,dynamic response of elastic vibration of planar 2-DOF parallel mechanism is analyzed,in connection with the main types of vibration,active control measures is proposed,and state space model of the active control of elastic vibration is established.In terms of system response speed and control energy,performance index of functional type is given which used measure the merits of quality control,optimal active control of elastic vibration is realized,the results show that the optimal active control can reduce significantly the level of the elastic vibration,positioning accuracy and precision movement of end point of mechanism is improved,the range and the amplitude of control energy are small,the method realized easily in engineering.更多还原