阅读说明：本技术 一种柔性关节驱动的弹簧连接多柔性梁振动测控装置及方法 (Flexible joint driven spring connection multi-flexible beam vibration measurement and control device and method ) 是由 邱志成 杨阳 于 2021-05-26 设计创作，主要内容包括：本发明公开了一种柔性关节驱动的弹簧连接多柔性梁振动测控装置及控制方法,包括柔性梁本体部分、振动检测部分及振动控制部分；所述柔性梁本体部分包括八根柔性梁,相邻柔性梁通过拉伸弹簧连接,计算机驱动伺服电机带动柔性关节运动,进一步带动柔性梁旋转,柔性梁进而产生振动,通过振动检测部分的压电陶瓷传感器和加速度传感器检测到振动信号,输出到计算机,计算机根据反馈信号输出控制信号通过振动控制部分的伺服电机和压电致动器来抑制柔性梁的振动。(The invention discloses a flexible joint driven spring connection multi-flexible beam vibration measurement and control device and a control method, wherein the flexible joint driven spring connection multi-flexible beam vibration measurement and control device comprises a flexible beam body part, a vibration detection part and a vibration control part; the flexible beam body part comprises eight flexible beams, adjacent flexible beams are connected through an extension spring, a computer drives a servo motor to drive a flexible joint to move, the flexible beams are further driven to rotate, the flexible beams further vibrate, vibration signals are detected through a piezoelectric ceramic sensor and an acceleration sensor of the vibration detection part and output to the computer, and the computer outputs control signals according to feedback signals to inhibit the vibration of the flexible beams through the servo motor and a piezoelectric actuator of the vibration control part.)

1. A flexible joint driven spring connection multi-flexible beam vibration measurement and control device is characterized by comprising a flexible beam body part, a vibration detection part and a vibration control part;

the flexible beam body portion: the clamping frame is divided into an upper layer and a lower layer, the upper layer and the lower layer are respectively provided with four flexible beams, one end fixed with the clamping frame is called a fixed end, the other end is a free end, the adjacent flexible beams are connected through a tension spring, the servo motor drives a speed reducer to rotate, the speed reducer further drives an output shaft arranged on a speed reducer mounting and connecting table to rotate, and the output shaft drives the clamping frame to rotate through a flexible joint;

the vibration detection section: the vibration control part is used for detecting a vibration signal of the flexible beam and inputting the vibration signal into the vibration control part;

the vibration control section: and the control quantity is obtained according to the vibration signal, and the vibration of the flexible beam is further controlled.

2. The vibration measurement and control device of a spring-connected multi-flexible beam as claimed in claim 1, wherein the vibration detection part comprises a piezoelectric ceramic sensor, an acceleration sensor, a charge amplifier, a terminal board, a motion control card and a computer, the computer is connected with the motion control card, the motion control card is connected with the terminal board, the piezoelectric ceramic sensor and the acceleration sensor are arranged on the flexible beam, the piezoelectric ceramic sensor and the acceleration sensor convert vibration information into vibration signals, the vibration signals are amplified by the charge amplifier and then input into the terminal board, the vibration signals are input into the motion control card through the terminal board, and an A/D module in the motion control card converts analog signals into digital signals and finally inputs the digital signals into the computer.

3. The device for measuring and controlling vibration of the spring-connected multi-flexible beam according to claim 2, wherein the vibration control part comprises a piezoelectric actuator, a piezoelectric amplifier and a servo driver, the piezoelectric actuator is arranged on the flexible beam, the computer obtains control quantities corresponding to the servo motor and the piezoelectric actuator according to the obtained vibration signals to generate corresponding control signals, and the control signals respectively output the piezoelectric amplifier and the servo driver through the motion control card and the terminal board to further drive the servo motor and the piezoelectric actuator to control the vibration of the flexible beam.

4. The vibration measurement and control device with multiple flexible beams connected by springs according to claim 1, wherein four flexible beams of each layer of clamping frame are on a horizontal plane, and the included angle between adjacent flexible beams is 90 degrees.

5. The vibration measurement and control device with the spring-connected flexible beams as claimed in claim 2, wherein a piezoelectric ceramic sensor is adhered to each flexible beam near the fixed end, and the acceleration sensor is arranged at the free end of each flexible beam.

6. The vibration measurement and control device with multiple flexible beams connected by springs as claimed in claim 3, wherein the piezoelectric actuators are attached to each flexible beam near the fixed end, and each flexible beam is attached with four pieces, two pieces on each side.

7. The vibration measurement and control device with the spring-connected multiple flexible beams according to any one of claims 1-6, wherein the flexible joint comprises two torsion springs, two tapered roller bearings and a sleeve, the output shaft is arranged in the sleeve and is connected with the sleeve through the torsion springs and the tapered roller bearings to form the flexible joint, and the clamping frame is connected with the upper end of the sleeve.

8. The vibration measurement and control device with the spring-connected multiple flexible beams according to claim 7, wherein the inner ends of the two torsion springs are connected with the output shaft, the outer ends of the two torsion springs are connected with the inner wall of the sleeve, and the tapered roller bearings are arranged at two ends of a shaft shoulder in the middle of the output shaft.

9. The vibration measurement and control device with the spring-connected multiple flexible beams according to claim 8, wherein the sleeve is formed by splicing two half cylinders, and connecting holes are formed in the upper end and the lower end of the sleeve.

10. A spring-coupled multi-flexural beam vibration measurement and control device according to any of claims 1-9, comprising:

the first step is as follows: the computer inputs a preset track route control signal, transmits the preset track route control signal to the servo driver through the motion control card and the terminal board, and finally drives the servo motor to generate corresponding motion to cause the vibration of the flexible beam;

the second step is that: collecting vibration information by using a piezoelectric ceramic sensor and an acceleration sensor, and inputting the vibration information into a computer;

the third step: the computer operation control algorithm respectively calculates the control quantity corresponding to the servo motor and the piezoelectric actuator, generates corresponding control signals, and respectively outputs the control signals to the servo driver and the piezoelectric amplifier through the motion control card and the terminal board to control the vibration of the flexible beam;

the fourth step: through changing control parameters and repeated tests, multiple experimental results are obtained, and the vibration characteristics and the control effect of the flexible joint driven spring connection multi-flexible beam vibration measurement and control device and method are obtained.

Technical Field

The invention relates to the field of vibration control, in particular to a device and a method for measuring and controlling vibration of a spring-connected multi-flexible beam driven by a flexible joint.

Background

The flexible joint flexible arm structure is widely applied to the fields of aerospace industry and the like, and the flexible structure overcomes the characteristics of large mass, high energy consumption and low flexibility of a rigid structure. Meanwhile, the flexible structure has the defects of low natural frequency and easy excitation of a low-frequency mode, so that the development limitation of the flexible structure is caused, after the flexible joint and the spring connection are added, the structure becomes diversified, and the analysis of the vibration characteristic and the design of an active algorithm of the structure become one of the hot spots and the key points of the world research.

The servo motor has the characteristics of high precision, quick response, good dynamic characteristic and the like, and can excite the vibration of the flexible beam and inhibit the vibration of the flexible beam by utilizing the output of the servo motor.

The piezoelectric patch has the characteristics of simple structure, convenience in installation and long service life, and is used for vibration detection and vibration control, so that the piezoelectric patch is the main choice for the research of the flexible beam.

Disclosure of Invention

In order to overcome the defects and shortcomings in the prior art, the invention mainly aims to provide a flexible joint driven vibration measurement and control device with a spring connected with multiple flexible beams, so that the vibration characteristics of the multiple rotary spring connected with the multiple flexible beams can be analyzed and actively controlled.

The invention provides a control method of a flexible joint driven spring connection multi-flexible beam vibration measurement and control device.

The invention adopts the following technical scheme:

a flexible joint driven spring connection multi-flexible beam vibration measurement and control device comprises a flexible beam body part, a vibration detection part and a vibration control part;

the flexible beam body portion: the clamping frame is divided into an upper layer and a lower layer, the upper layer and the lower layer are respectively provided with four flexible beams, one end fixed with the clamping frame is called a fixed end, the other end is a free end, the adjacent flexible beams are connected through a tension spring, the servo motor drives a speed reducer to rotate, the speed reducer further drives an output shaft arranged on a speed reducer mounting and connecting table to rotate, and the output shaft drives the clamping frame to rotate through a flexible joint;

the vibration detection section: the vibration control part is used for detecting a vibration signal of the flexible beam and inputting the vibration signal into the vibration control part;

the vibration control section: and the control quantity is obtained according to the vibration signal, and the vibration of the flexible beam is further controlled.

The vibration detection part comprises a piezoelectric ceramic sensor, an acceleration sensor, a charge amplifier, a terminal board, a motion control card and a computer, wherein the computer is connected with the motion control card, the motion control card is connected with the terminal board, the piezoelectric ceramic sensor and the acceleration sensor are arranged on the flexible beam, the piezoelectric ceramic sensor and the acceleration sensor convert vibration information into vibration signals, the vibration signals are amplified by the charge amplifier and then input into the terminal board and then input into the motion control card through the terminal board, and an A/D module in the motion control card converts analog signals into digital signals and finally inputs the digital signals into the computer.

Further, the vibration control part comprises a piezoelectric actuator, a piezoelectric amplifier and a servo driver, the piezoelectric actuator is arranged on the flexible beam, the computer obtains control quantities corresponding to the servo motor and the piezoelectric actuator according to the obtained vibration signals and generates corresponding control signals, and the control signals respectively output the piezoelectric amplifier and the servo driver through the motion control card and the terminal board and further drive the servo motor and the piezoelectric actuator to control the vibration of the flexible beam.

Furthermore, four flexible beams of each layer of clamping frame are all on a horizontal plane, and the included angle between adjacent flexible beams is 90 degrees.

Furthermore, each flexible beam is close to the fixed end and is pasted with a piezoelectric ceramic sensor, and the acceleration sensor is arranged at the free end of each flexible beam.

Furthermore, the piezoelectric actuators are adhered to the positions, close to the fixed ends, of the flexible beams, four flexible beams are adhered to each flexible beam, and each flexible beam is provided with two flexible beams.

Further, the flexible joint comprises two torsion springs, two tapered roller bearings and a sleeve, the output shaft is arranged in the sleeve and is connected with the sleeve through the torsion springs and the tapered roller bearings to form the flexible joint, and the clamping frame is connected with the upper end of the sleeve.

Furthermore, the inner ends of the two torsion springs are connected with the output shaft, the outer ends of the two torsion springs are connected with the inner wall of the sleeve, and the tapered roller bearings are arranged at two ends of a shaft shoulder in the middle of the output shaft.

Further, the sleeve is formed by splicing two half cylinders, and connecting holes are formed in the upper end and the lower end of the sleeve.

A method for connecting a multi-flexible beam vibration measurement and control device based on springs comprises the following steps,

the first step is as follows: the computer inputs a preset track route control signal, transmits the preset track route control signal to the servo driver through the motion control card and the terminal board, and finally drives the servo motor to generate corresponding motion to cause the vibration of the flexible beam;

the second step is that: collecting vibration information by using a piezoelectric ceramic sensor and an acceleration sensor, and inputting the vibration information into a computer;

the third step: the computer operation control algorithm respectively calculates the control quantity corresponding to the servo motor and the piezoelectric actuator, generates corresponding control signals, and respectively outputs the control signals to the servo driver and the piezoelectric amplifier through the motion control card and the terminal board to control the vibration of the flexible beam;

the fourth step: through changing control parameters and repeated tests, multiple experimental results are obtained, and the vibration characteristics and the control effect of the flexible joint driven spring connection multi-flexible beam vibration measurement and control device and method are obtained.

The invention has the beneficial effects that:

(1) the output shaft, the sleeve and the torsion spring are reasonably designed to form the flexible joint, the two torsion mounting directions are opposite, the same torsion spring coupling effect is ensured under the conditions of forward rotation and reverse rotation, in addition, the rigidity of the torsion spring can be adjusted, the torsion spring can be pre-tightened in the forward direction and the reverse direction by utilizing the connecting hole on the sleeve, and the influence of the flexible joint on the flexible mechanism can be comprehensively researched;

(2) the adjacent flexible beam pieces in the same horizontal plane are connected through the springs, the structure is more diversified due to the coupling of the springs, and the flexible beams in the same horizontal plane are mutually coupled, so that more possibilities are provided for the active control of the flexible structure;

(3) the invention improves the stability of the whole structure by planning and optimizing the track of the servo motor;

(4) the piezoelectric piece is adopted for vibration detection and vibration control, is easy to operate, convenient to install, simple in structure and long in service life, and provides great convenience for researching the vibration characteristic and the control method of the flexible beam;

(5) the invention adopts a multi-sensing combined measurement mode, ensures the precision of vibration detection, reduces errors and is beneficial to the vibration detection and analysis of the flexible beam.

Drawings

FIG. 1 is a schematic diagram of the general structure of the present invention;

FIG. 2 is a front view of FIG. 1;

FIG. 3 is a left side view of FIG. 1;

FIG. 4 is a top view of FIG. 1;

FIG. 5 is a schematic view of the flexible joint portion of FIG. 1;

FIG. 6 is a schematic view of a spring-coupled multi-flex beam portion of FIG. 1;

FIG. 7 is a schematic view of the sleeve of FIG. 1;

fig. 8 is a schematic view of a torsion spring structure.

Detailed Description

The present invention will be described in further detail with reference to examples and drawings, but the present invention is not limited to these examples.

Examples

As shown in figures 1-4, the whole device is arranged on an experiment table 1 and comprises a flexible beam body part, a vibration detection part and a vibration control part.

The flexible beam body part comprises a clamping frame 8, the clamping frame is divided into an upper layer and a lower layer, the upper layer and the lower layer are respectively provided with four flexible beams, the four flexible beams arranged on the upper layer are respectively a flexible beam 16, a flexible beam 17, a flexible beam 18 and a flexible beam 19, and the four flexible beams arranged on the lower layer are respectively a flexible beam 12, a flexible beam 13, a flexible beam 14 and a flexible beam 15. The flexible beam mounting structures of the upper and lower clamping frames are identical in position. Four flexible beams are all installed in the horizontal direction, the center point of the clamping frame is used as the center of a circle, the flexible beams face four different directions, the front direction, the rear direction, the left direction and the right direction, one end of each flexible beam is fixed to the clamping frame to form a fixed end, the other end of each flexible beam is a free end, the fixed end of each flexible beam is fixed to the clamping frame 8 through a small clamping plate 9, and adjacent flexible beams are connected through an extension spring 7. The four extension springs of each layer form a quadrilateral. Eight extension springs 7 are provided, adjacent flexible beams at the same horizontal height are connected through the extension springs, the extension springs are fixedly connected with the flexible beams through hanging rings, the fixing positions of the hanging rings are middle positions 400mm away from the fixed ends of the flexible beams, and the extension springs are installed in a pre-tightening mode.

Reduction gear 4 fixed mounting is on clamping seat 2, and servo motor 3 and 4 bottom interconnect of reduction gear, the shaft interconnect of reduction gear connection platform 5 and 4 upper ends of reduction gear, output shaft 25 and reduction gear connection platform 5 pass through cylindric lock 26 interconnect, the output shaft passes through flexible joint and drives the clamping frame rotation.

As shown in fig. 5, the flexible joint further includes two torsion springs, two tapered roller bearings and a sleeve, the output shaft is disposed in the sleeve and connected with the sleeve through the torsion springs and the tapered roller bearings to form the flexible joint, and the clamping frame is connected with the upper end of the sleeve.

As shown in fig. 6 to 8, the specific connections are: torsion springs 21 and torsion springs 22 are respectively installed at the upper end and the lower end of an output shaft 25, the inner ends of the two torsion springs are connected with the output shaft 25 through hole grooves, the outer end of the two torsion springs is connected with a sleeve 6 through a connecting hole in the wall of the sleeve, the installation directions of the two torsion springs are opposite, tapered roller bearings 23 and tapered roller bearings 24 are installed at the two ends of a shaft shoulder in the middle of the output shaft, the two tapered roller bearings are positioned and installed through a boss on the inner wall of the sleeve and the shaft shoulder of the output shaft 25, and the sleeve 6 and the output shaft 25 are connected with each other through the torsion springs and the tapered roller bearings to form a flexible joint. The upper end of the sleeve is in threaded connection with the clamping frame.

The torsion spring 21 is installed at the upper end of the output shaft 25, installed clockwise, and horizontally installed at a position 5mm away from the free end of the output shaft. The torsion spring 22 is installed at the lower end of the output shaft 25, is installed in the anticlockwise direction, is 40mm away from the free end of the output shaft, and is installed horizontally. The two torsion springs are installed in a pre-tightening mode.

The servo motor 3 drives the output shaft of the speed reducer 4 to rotate, further drives the speed reducer connecting platform 5 and the output shaft 25 installed on the connecting platform to rotate, the sleeve 6 is connected with the output shaft 25 through the torsion spring and the tapered roller bearing, the rotation of the output shaft 25 drives the sleeve 6 to rotate, and the sleeve 6 drives the clamping frame 8 and eight flexible beams fixed on the clamping frame 8 to rotate.

As shown in fig. 7, the upper end and the lower end of the sleeve are both provided with connecting holes, the distance between the lower end connecting hole and the bottom end of the sleeve is 3mm, the distance between the upper end connecting hole and the bottom end of the sleeve is 56mm, and the diameter of the connecting holes is 1 mm.

The depth of the hole groove on the output shaft 25 is 5 mm.

The vibration detecting section includes a piezoelectric ceramic sensor 10, an acceleration sensor 20, a charge amplifier 29, a terminal block 30, a motion control card 31, and a computer 32.

The computer 32 is connected with the motion control card 31, the motion control card 31 is connected with the terminal board 30, the piezoelectric ceramic sensor 10 and the acceleration sensor 20 are arranged on the flexible beam, the piezoelectric ceramic sensor 10 and the acceleration sensor 20 convert vibration information into vibration signals, the vibration signals are amplified by the charge amplifier 29 and then input into the terminal board 30, the vibration signals are input into the motion control card 31 through the terminal board 30, and an analog/digital (A/D) module in the motion control card converts analog signals into digital signals and finally inputs the digital signals into the computer 32.

Furthermore, the number of the acceleration sensors is eight, the acceleration sensors are respectively arranged on the eight flexible beams, and the installation position is the middle position which is 25mm away from the free end of each flexible beam; the eight acceleration sensors can respectively detect the composite information of the vibration and the rotation of the tail ends of the eight flexible beams and input the composite information into the computer as feedback signals.

The piezoelectric ceramic sensor 11 comprises eight piezoelectric ceramic sensors, wherein each flexible beam is provided with one piezoelectric ceramic sensor, the piezoelectric ceramic sensors are arranged on the horizontal center line of the flexible beam and are arranged on one side, the installation position is the middle position 75mm away from the fixed end of the flexible beam, the posture angle is 0 degree, and the piezoelectric ceramic sensors are respectively used for detecting the vibration of the flexible beam.

The vibration control section includes: piezoelectric actuator 10, servo motor 3, piezoelectric amplifier 27, and servo driver 28.

The piezoelectric actuator 10 is arranged on the flexible beam and comprises 32 piezoelectric ceramic actuators, four piezoelectric ceramic actuators are arranged on each flexible beam, each piezoelectric ceramic actuator comprises two piezoelectric ceramic actuators on each surface, the piezoelectric ceramic actuators are symmetrically adhered and connected in parallel, the installation positions are symmetrical positions which are 25mm away from the fixed end of the flexible beam and 30mm away from the central line, the attitude angle is 0 degree, and the piezoelectric ceramic actuators are respectively used for controlling the vibration of the flexible beam.

The servo motor 3 is driven to drive the flexible joint to rotate through the speed reducer 4, the control quantity corresponding to the servo motor 3 and the piezoelectric actuator 11 is respectively calculated through a computer 32 running control algorithm according to the vibration signal detected by the vibration detection part, corresponding control signals are generated, the control signal corresponding to the servo motor 3 is output to the motion control card 31 through the computer 32, then to the terminal board 30 and finally to the servo driver 28, and the servo motor 3 is driven to control the vibration of the flexible beam; the control signal corresponding to the piezoelectric actuator 10 is output to the motion control card through the computer, then to the terminal board and the piezoelectric amplifier 27, and finally to the piezoelectric actuator, and the piezoelectric actuator controls the vibration of the flexible beam.

The control method of the flexible beam vibration detection device comprises the following steps:

the first step is as follows: the computer 32 inputs a preset track route control signal, the preset track route control signal is transmitted to the servo driver 28 through the motion control card 31 and the terminal board 30, and finally the servo motor 3 is driven to generate corresponding motion to cause the vibration of the flexible beam;

the second step is that: the vibration information is collected by the piezoelectric ceramic sensor 11 and the acceleration sensor 20, and a vibration signal is output, the vibration signal collected by the piezoelectric ceramic sensor 11 passes through the charge amplifier 29, is transmitted through the terminal board 30, and is converted into a digital signal by an A/D conversion module in the motion control card 31 to be input into the computer 32; the vibration signal collected by the acceleration sensor 20 is converted into an analog signal and a digital signal by an A/D conversion module in the motion control card 31 and then is input into the computer 32;

the third step: the computer 32 runs a control algorithm to respectively calculate the control quantity corresponding to the servo motor 3 and the piezoelectric actuator 10, and generates corresponding control signals, the control signals corresponding to the servo motor 3 are output to the motion control card 31 through the computer 32, then to the terminal board 30, and finally to the servo driver 28, and the servo motor 3 is driven to control the vibration of the flexible beam; the control signal corresponding to the piezoelectric actuator 10 is output to the motion control card through the computer 32, then to the terminal board 30 and the piezoelectric amplifier 27, and finally to the piezoelectric actuator, and the piezoelectric actuator controls the vibration of the flexible beam;

the fourth step: through changing control parameters and repeated tests, multiple experimental results are obtained, and the vibration characteristics and the control effect of the flexible joint driven spring connection multi-flexible beam vibration measurement and control device and method are obtained.

Each dotted line in fig. 1 indicates a direction of transferring a wired relationship of signals between devices with arrows;

in this embodiment, the eight flexible beams are made of thin epoxy resin plates with a geometric dimension of 600mm × 10mm × 2mm, an elastic modulus of Ep ═ 26.8Gpa, and a density of ρ ═ 1980kg/m³。

The piezoelectric ceramic sensor and the piezoelectric actuator are made of piezoelectric ceramic, wherein the size of the piezoelectric ceramic sensor is 25mm multiplied by 10mm multiplied by 1mm, the size of the piezoelectric actuator is 50mm multiplied by 20mm multiplied by 1mm, and the piezoelectric ceramic sensor and the piezoelectric actuator are both adhered to the flexible beam in a sheet shape. The elastic modulus and the piezoelectric strain constant of the piezoelectric ceramic are respectively Ep-63 Gpa and d 31-166 pm/V.

The acceleration sensor is a capacitance type sensor with model 8310B2 manufactured by Kistler company, the nominal sensitivity of the capacitance type sensor is 1000mV/g, and the measurement frequency range is 0-250 Hz.

The servo motor is an alternating current servo motor of Mitsubishi motor company with the model number of HC-KFS43, and the power and the maximum rotating speed of the alternating current servo motor are 400w and 3000 r/min; the servo motor driver is a servo driver of Mitsubishi company, the model of which is MR-J2S-40A; the reducer is a Nippon Lianbao VRSF-25C-14BB14 reducer, the reduction ratio is 1:25, and the backlash is 15 degrees.

The tapered roller bearing is a tapered roller bearing 32004, the outer diameter is 42mm, the inner diameter is 20mm, and the width is 15 mm.

The experiment table 1 is formed by assembling three aluminum profiles with the lengths of 600mm and 680mm and 480mm through angle irons, and the end face of the experiment table is an aluminum alloy plate with the length of 800mm multiplied by 600mm multiplied by 8mm and is connected with the aluminum profiles through screws.

The charge amplifier is a YE5850 type charge amplifier of Jiangsu Union energy electronics, Inc.; the piezoelectric amplifying circuit adopts a piezoelectric amplifier with the model of APEX-PA241DW, the amplification factor can reach 52 times, and the piezoelectric amplifying circuit can amplify-5V- +5V to-260V- + 260V.

The motion control card is a GUC-800-TPV-M23-L2-F8G type control card of Gao Gu company, and 8 paths of controllable shaft numbers can provide analog quantity input and output in the range of-10V to + 10V; the CPU model of the selected computer is Pentium G6202.6 Hz, the memory is 4G, the main board is provided with a PCI interface, and a motion control card can be installed.

The above embodiments are preferred embodiments of the present invention, but the present invention is not limited to the above embodiments, and any other changes, modifications, substitutions, combinations, and simplifications which do not depart from the spirit and principle of the present invention should be construed as equivalents thereof, and all such changes, modifications, substitutions, combinations, and simplifications are intended to be included in the scope of the present invention.