CN101393463A - Vibration test and control device for low frequency mode of flexible moving structure - Google Patents
Vibration test and control device for low frequency mode of flexible moving structure Download PDFInfo
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- CN101393463A CN101393463A CNA2008102187375A CN200810218737A CN101393463A CN 101393463 A CN101393463 A CN 101393463A CN A2008102187375 A CNA2008102187375 A CN A2008102187375A CN 200810218737 A CN200810218737 A CN 200810218737A CN 101393463 A CN101393463 A CN 101393463A
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Abstract
The invention discloses a vibration test and control device for the low-frequency mode of a flexible movable structure, which comprises an intelligent flexible movable structure, a pneumatic component and an electric signal processing device, wherein a slider of a rodless cylinder of the intelligent flexible movable structure is fixedly connected with a mechanical clamping device of a flexible structure, and a movable slider of the rodless cylinder is fixedly connected with a movable slider of a linear grating ruler through a machine; a plurality of piezoelectric ceramic plates are adhered to the root of the flexible structure and taken as a piezoelectric transducer and a piezoelectric driver respectively; the piezoelectric driver is formed by four piezoelectric plates which are symmetrically adhered to both surfaces of the flexible structure, and two piezoelectric plates are adhered to each surface of the flexible structure, connected in parallel with each other and positioned on the upper side and the lower side of a vertical midline of a fixed end of the flexible structure respectively; the number of the piezoelectric transducer is one, and the piezoelectric transducer is positioned in the vertical midline of the fixed end of the flexible structure; and an acceleration transducer is arranged on the end part of a free end of the flexible structure. The vibration test and control device for the flexible movable structure which is pneumatically driven well reveals the rigid and flexible coupling characteristic of the system.
Description
Technical field
The present invention relates to flexibility structural vibration test and the control that straight line moves, particularly relate to a kind of when simulating the Large Spacecraft transfer orbital control and the vibration detection and the control device of flexible accessory structure such as spatial flexible robot, specifically provide a kind of at the straight-line vibration control of the hard and soft coupling flexible structure of simulation, the flexible structure low frequency modal vibration survey of the translation motion of application pneumatic actuation and the compound control of piezoelectricity and the device of control.
Background technology
Spacecraft changes because engine driven causes the spacecraft movement velocity when transfer orbital control, because inertia factor can cause the flexible appendage vibration of spacecraft.May excited vibrational when becoming rail as flexible annex such as solar array and spatial flexible robot, vibration will influence the stability of spacecraft, perhaps causes the fatigure failure of instrument and equipment.Therefore the measurement of the large-scale flexible structural vibration under the space condition and ACTIVE CONTROL with regard to becoming world today's common concern challenging important topic.
In the prior art, flexible structural vibration control such as research simulated space windsurf board mainly contain and adopt piezoelectric patches, acceleration transducer etc. to carry out Study on Active Vibration Control.These devices or be stationary devices such as cantilever slab or beam, it is the pneumatic floating installation that rotatablely moves that Simulated Spacecraft is adjusted attitude, or the flexible robot rotatablely move control device, the research of carrying out at the active control technology and the method for these devices.Yet, flexible structure at moving movement is less relatively, and all be to adopt the motor ball-screw to drive or band driving synchronously basically, because these drivings are all slowed down, reverse driving force is very poor, so motor driver and the rigid body portion that drives moving movement and flexible structure partly are relative decoupling zeros, so it is relatively easy to get up in control.The present invention adopts the Rodless cylinder straight line to move pneumatic actuation, drives intelligent flexible structure, and integrated piezoelectric material PZT stupalith carries out the detection and the control of low-frequency vibration mode as sensor and acceleration transducer.
Summary of the invention
The objective of the invention is to overcome the deficiencies in the prior art, a kind of low frequency modal vibration detection and control device based on the intelligence flexible moving structure of pneumatic actuation of simulating the vibration of hard and soft coupled structure is provided.
In order to achieve the above object, the present invention adopts following method and technical scheme:
A kind of vibration-testing of low frequency mode of flexible moving structure and control device, comprise that intelligence flexible moving structure, pneumatic element and electric signal are connected and driving control device, the slide block of the Rodless cylinder of described intelligence flexible moving structure is fixedlyed connected with the mechanical clamping device of flexible structure, and moving slider is connected by mechanical fixation with the moving slider of striated pattern chi; Paste the multi-disc piezoelectric ceramic piece respectively as piezoelectric sensor and piezoelectric actuator at the root of flexible structure, piezoelectric actuator is pasted in the two-sided symmetry of flexible structure by 4 piezoelectric patches, and 2 every, be connected in parallel, lay respectively at stiff end longitudinal midline upper and lower sides; Piezoelectric sensor is 1, is positioned at the longitudinal midline of flexible structure stiff end, in the free end end of flexible structure acceleration transducer is installed;
The air pump of pneumatic element is connected with three air pressure reducing devices by pneumatic triple piece, and three air pressure reducing devices are connected with one of pneumatic two-position three-way valve, Pneumatic unidirectional valve and two of pneumatic two-position three-way valve respectively; Two of one of pneumatic two-position three-way valve and pneumatic two-position three-way valve is connected with right air cavity with the left air cavity of Rodless cylinder respectively, and two of one of pneumatic two-position three-way valve, Pneumatic unidirectional valve and pneumatic two-position three-way valve also is connected with pneumatic proportional valve by Pneumatic pipe respectively;
Two of one of pneumatic valve two-position three-way valve and pneumatic valve two-position three-way valve be connected with electric signal respectively and driving control device in multi-way switch valve drive plate in a road connect, multi-way switch valve drive plate is connected with D/A conversion and I/O output control card, D/A conversion and I/O output control clamping computing machine, computing machine connects display; A D/A ALT-CH alternate channel of D/A conversion and I/O output control card is connected with pneumatic proportional valve, and another passage of D/A conversion and I/O output control card also is connected with drive power supply for piezoelectric ceramics, and drive power supply for piezoelectric ceramics is connected with piezoelectric actuator; The piezoelectric patches sensor is connected with the extremely low frequency charge amplifier respectively with piezoelectric acceleration sensor, and the extremely low frequency charge amplifier is connected with hyperchannel A/D transition card, hyperchannel A/D conversion clamping computing machine; Striated pattern chi and scrambler resolve card connection, and scrambler resolves the clamping computing machine.
For further realizing the object of the invention, described Rodless cylinder is preferably MY1M25-600L type Rodless cylinder.
Described striated pattern chi is preferably FAGOR grating chi.
The present invention has following advantage and beneficial effect compared with the prior art: this pneumatic driving structure, move because big compressibility and the flexible structure vibration of gas is hard and soft coupled structure in pneumatic actuation, the accelerated motion of the linear speed change of Simulated Spacecraft when becoming rail causes the vibration of flexible accessory well, can also simulate rectilinear motion flexible robot's hard and soft coupled vibrations control well.
Description of drawings
Fig. 1 is that pneumatic actuation of the present invention moves flexible structure test unit main assembly synoptic diagram.
Fig. 2 is a pneumatic actuation flexible structure part synoptic diagram in the optional example of Fig. 1.
Shown in the figure: Rodless cylinder 1, striated pattern chi 2, flexible structure 5, piezoelectric sensing sheet 3, piezoelectric driving plate 4, piezoelectric acceleration sensor 6, one of pneumatic two-position three-way valve 8,29 of pneumatic two-position three-way valve, Pneumatic unidirectional valve 10, three air pressure reducing devices 11, pneumatic proportional valve 12, pneumatic triple piece 13, air pump 14, extremely low frequency charge amplifier 15, hyperchannel A/D transition card 16, computing machine 17, display 18, D/A conversion and I/O output control card 19, drive power supply for piezoelectric ceramics 20, switch valve drive plate 21, scrambler resolves card 22.
Embodiment
The present invention is further illustrated below in conjunction with drawings and Examples, but the scope of protection of present invention is not limited to the scope that embodiment expresses.
As shown in Figure 1, a kind of vibration-testing of low frequency mode of flexible moving structure and control device comprise that intelligence flexible moving structure, pneumatic element and electric signal are connected and driving control device.
The slide block of Rodless cylinder 1 is fixedlyed connected with the mechanical clamping device 7 of flexible structure 5 in the intelligence flexible moving structure, moving slider is connected by mechanical fixation with the moving slider of striated pattern chi 2, is used to detect the displacement and the speed of mobile flexible structure rigid motion part; Flexible mobile device adopts Rodless cylinder to drive intelligent flexible structure, the vibration control of simulating hard and soft coupling flexible structure well.Paste the multi-disc piezoelectric ceramic piece respectively as piezoelectric sensor 3 and piezoelectric actuator 4 at the root of flexible structure, piezoelectric actuator 4 is positioned at flexible structure 5 stiff end transversal centerline both sides up and down, fixed distance end 2cm in the horizontal, the edge of the flexible amount structure of distance is 2.5cm in the vertical, piezoelectric sensor 3 is positioned at the stiff end longitudinal midline of flexible structure, fixed distance end 6cm in the horizontal, wherein piezoelectric sensor 3 is 1, piezoelectric actuator 4 is pasted in the two-sided symmetry of flexible structure by 4 piezoelectric patches, 2 every, be connected in parallel, acceleration transducer 6 be installed in the free end end of flexible structure.
Dotted line among Fig. 1 connects the connection layout of expression electric signal and driving control device.One of pneumatic valve two-position three-way valve 8 and pneumatic valve two-position three-way valve 29 respectively with multi-way switch valve drive plate 21 in a road be connected, switch valve drive plate 21 is connected with D/A conversion and I/O output control card 19, D/A conversion and I/O output control card 19 are inserted in the bus slot of computing machine 17, and computing machine 17 connects display 18; A D/A ALT-CH alternate channel of D/A conversion and I/O output control card 19 is connected with pneumatic proportional valve 12, another passage of D/A conversion and I/O output control card 19 also is connected with drive power supply for piezoelectric ceramics 20, and drive power supply for piezoelectric ceramics 20 is connected with piezoelectric actuator 4; Piezoelectric patches sensor 3 is connected with an extremely low frequency charge amplifier 15 respectively with piezoelectric acceleration sensor 6, and extremely low frequency charge amplifier 15 is connected with hyperchannel A/D transition card 16, and hyperchannel A/D transition card 16 inserts in computing machine 17 bus slots.Striated pattern chi 2 resolves card 22 with scrambler and is connected, scrambler resolves card 22 and inserts in computing machine 17 bus slots, the slide block of Rodless cylinder 1 is that the moving displacement that the mechanical grip of flexible structure is sat detects by grating chi 2, and the signal of grating chi resolves the straight line moving displacement signal input computing machine 17 of card 22 with flexible structure through scrambler.The moving displacement and the speed of flexible mobile device are detected by the striated pattern chi, the vibration of flexible structure can be detected by piezoelectric patches sensor and acceleration transducer, realize that according to sensor feedback design control strategy the action of control pneumatic proportional valve and two-position three-way valve realizes that Rodless cylinder moves, and adopt complex pneumatic control and control piezoelectric actuator to realize vibration suppression in the moving process.
In this example, the model that Rodless cylinder 1 can select for use the pneumatic company of Japanese SMC to produce is the Rodless cylinder of MY1M25-600L; Two-position three-way valve 8 and 9 is that the pneumatic company of Japanese SMC produces model: VK332-5G-01; The AK2000 type Pneumatic unidirectional valve that Pneumatic unidirectional valve 10 can select for use the pneumatic company of Japanese SMC to produce; Three AR2000-02 type pneumatic pressure-release valves that air pressure reducing device 11 can select for use the pneumatic company of Japanese SMC to produce, and have a tensimeter (model: G36-10-01); Pneumatic proportional valve 12 is produced model: ITV2050-212L by the pneumatic company of Japanese SMC; Pneumatic triple piece 13 is by air strainer (model: AF30-03), reduction valve (model: AR25-03) and oil mist separator (model: AFM30-03) form, by 2 dividing plate (models: Y300T) fit together, and have a tensimeter (model: G36-10-01), produce by the pneumatic company of Japanese SMC; Air pump 14 is that the model that Shanghai Jaguar compressor manufacturing company limited produces is the quiet air compressor of FB-0.017/7.
Control program of the present invention is write based on C++, resolve the driving and the conversion of card, A/D translation data capture card and D/A conversion and I/O card comprising scrambler, the running mean digital filtering algorithm of signal, realize friendly human-computer interaction interface, show relevant information in real time at display, the real-time monitored function is provided, the opening and closing of control, the input of control strategy parameter, handled easilies such as data preservation.The present invention can realize friendly human-computer interaction interface, the information that can show the mode of flexural vibration that A/D translation data capture card is gathered in real time at display, controlled quentity controlled variable is through the output of D/A transition card, the realization of control algolithm and the adjustment of controlled variable, and the opening and closing of control strategy.
In pneumatic control, air pump 14 with the gases at high pressure of source of the gas through behind the pneumatic triple piece 13 respectively after 11 decompressions of three pneumatic pressure-release valves, respectively through one of moving valve two-position three-way valve 8, pneumatic valve two-position three-way valve 29, retaining valve 10 and pneumatic proportional valve 12 and Rodless cylinder 1 constitute pneumatic circuit; Road D/A switching signal via D/A conversion and I/O output control card 19 is controlled the variation of the cross-sectional flow area of pneumatic proportional valve 12, thereby controls the motion of flexible structure.Measure the piezoelectric sensing sheet 3 of flexible structure and the signal of piezoelectric acceleration sensor 6 by calculating 17 machine examinations, drive the action of pneumatic valve after the operation control algolithm by the switch valve driver card, the motion of control stockless cylinder slipper, and via behind D/A conversion and the I/O output control card 19 output control signals process drive power supply for piezoelectric ceramics 20, drive pressure electric drive 4, thereby the vibration of driving flexible structure; This hard and soft coupling linear motion system device is the change rail of Simulated Spacecraft and flexible mobile robot's hard and soft coupled vibrations test and control device preferably.
Described straight line moves vibration control apparatus, in the flexible structure vibration control, can also adopt the compound controlling schemes together of complex pneumatic drive controlling and Piezoelectric Driving control, promptly, control pneumatic circuit and piezoelectricity loop simultaneously, suppress the vibration of flexible structure fast according to the information that detects vibration.
Claims (3)
1, a kind of vibration-testing of low frequency mode of flexible moving structure and control device, comprise that intelligence flexible moving structure, pneumatic element and electric signal are connected and driving control device, it is characterized in that: the slide block of the Rodless cylinder of described intelligence flexible moving structure is fixedlyed connected with the mechanical clamping device of flexible structure, and moving slider is connected by mechanical fixation with the moving slider of striated pattern chi; Paste the multi-disc piezoelectric ceramic piece respectively as piezoelectric sensor and piezoelectric actuator at the root of flexible structure, piezoelectric actuator is pasted in the two-sided symmetry of flexible structure by 4 piezoelectric patches, and 2 every, be connected in parallel, lay respectively at stiff end longitudinal midline upper and lower sides; Piezoelectric sensor is 1, is positioned at the longitudinal midline of flexible structure stiff end, in the free end end of flexible structure acceleration transducer is installed;
The air pump of pneumatic element is connected with three air pressure reducing devices by pneumatic triple piece, and three air pressure reducing devices are connected with one of pneumatic two-position three-way valve, Pneumatic unidirectional valve and two of pneumatic two-position three-way valve respectively; Two of one of pneumatic two-position three-way valve and pneumatic two-position three-way valve is connected with right air cavity with the left air cavity of Rodless cylinder respectively, and two of one of pneumatic two-position three-way valve, Pneumatic unidirectional valve and pneumatic two-position three-way valve also is connected with pneumatic proportional valve by Pneumatic pipe respectively;
Two of one of pneumatic valve two-position three-way valve and pneumatic valve two-position three-way valve be connected with electric signal respectively and driving control device in multi-way switch valve drive plate in a road connect, multi-way switch valve drive plate is connected with D/A conversion and I/O output control card, D/A conversion and I/O output control clamping computing machine, computing machine connects display; A D/A ALT-CH alternate channel of D/A conversion and I/O output control card is connected with pneumatic proportional valve, and another passage of D/A conversion and I/O output control card also is connected with drive power supply for piezoelectric ceramics, and drive power supply for piezoelectric ceramics is connected with piezoelectric actuator; The piezoelectric patches sensor is connected with the extremely low frequency charge amplifier respectively with piezoelectric acceleration sensor, and the extremely low frequency charge amplifier is connected with hyperchannel A/D transition card, hyperchannel A/D conversion clamping computing machine; Striated pattern chi and scrambler resolve card connection, and scrambler resolves the clamping computing machine.
2, the vibration-testing of low frequency mode of flexible moving structure according to claim 1 and control device is characterized in that described Rodless cylinder is a MY1M25-600L type Rodless cylinder.
3, the vibration-testing of low frequency mode of flexible moving structure according to claim 1 and control device is characterized in that described striated pattern chi is a FAGOR grating chi.
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| CN2008102187375A CN101393463B (en) | 2008-10-29 | 2008-10-29 | Vibration test and control device for low frequency mode of flexible moving structure |
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| CN2008102187375A CN101393463B (en) | 2008-10-29 | 2008-10-29 | Vibration test and control device for low frequency mode of flexible moving structure |
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2008
- 2008-10-29 CN CN2008102187375A patent/CN101393463B/en not_active Expired - Fee Related
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