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研究了具有压电作动器与应变传感器的柔性连杆机构的振动主动控制问题。应用复模态理论对宏观机敏机构的动力学方程进行解耦,建立了包含系统噪声与观测噪声的受控系统状态空间表达式,并分别设计了离散LQG状态反馈控制器与离散Kalman滤波器。宏观机敏机构的在线振动控制实验表明,柔性连杆的应变峰值降低了80%,机构的动力学性能得到了显著改善。
The active vibration control of a flexible link mechanism with piezoelectric actuators and strain sensors is studied. The complex modal theory is used to decouple the dynamics of the macro mechanism. The state space expression of the controlled system including the system noise and the observed noise is established. The discrete LQG state feedback controller and the discrete Kalman filter are designed respectively. On-line vibration control experiment of macroscopical mechanism shows that the strain peak of the flexible connecting rod is reduced by 80%, and the dynamic performance of the mechanism has been significantly improved.