全部 标题 作者
关键词 摘要

OALib Journal期刊
ISSN: 2333-9721
费用:99美元

查看量下载量

相关文章

更多...

考虑压电传感片故障的柔性机械臂振动容错控制

DOI: 10.13190/j.jbupt.2015.03.006, PP. 43-49

Keywords: 压电片故障,柔性机械臂,振动,取代控制,滑模观测器

Full-Text   Cite this paper   Add to My Lib

Abstract:

针对柔性机械臂结构振动控制中可能出现的压电器件故障问题,以提高系统可靠性和稳定性为主要研究目标,提出了一种集小波神经网络与取代控制技术相结合的容错控制方法.首先设计了3种粘贴不同故障压电片的机械臂结构;然后采用小波包对各种故障压电片进行特征提取,通过径向基函数网络进行特征识别;再根据故障类型,选用硬件取代控制或基于一种新型非线性滑模观测器的软件取代控制;最后通过NICRIO平台进行的容错控制实验结果表明,传感器件故障诊断的置信度达到0.9,前两阶振动模态的抑制效果达到10dB以上.

References

[1]  李冬伟, 白鸿柏, 何忠波, 等. 压电促动器存在故障时柔性板的μ综合振动主动控制研究[J]. 实验力学, 2010, 25(1): 30-40. Li Dongwei, Bai Hongbai, He Zhongbo, et al. Active vibration control of the flexible plate with variable driving force of piezoelectric actuator via μ-synthesis[J]. Journal of Experimental Mechanic, 2010, 25(1): 30-40.
[2]  马扣根, 朱晓峰, 顾仲权. 结构振动主动控制中传感器故障的在线检测[J]. 振动工程学报, 1999, 12(1): 9-14. Ma Kougen, Zhu Xiaofeng, Gu Zhongquan. On-line detection of sensor fault in active structural vibration control system[J]. Journal of Vibration Engineering, 1999, 12(1): 9-14.
[3]  Izumikawa Y, Yubai K, Hirai J. Fault-tolerant control system of flexible arm for sensor fault by using reaction force observer[J]. Mechatronics, 2005, 10(4): 391-396.
[4]  杨立平, 张铭钧, 褚振忠, 等. 水下机器人抗积分饱和控制及主动容错控制方法[J]. 哈尔滨工程大学学报, 2010, 31(6): 755-761. Yang Liping, Zhang Mingjun, Chu Zhenzhong, et al. Anti-windup control and active fault tolerant control methods for autonomous underwater vehicles[J]. Journal of Harbin Engineering University, 2010, 31(6): 755-761.
[5]  Manjunath T C, Bandyopadhyay B. Fault-tolerant control of flexible smart structures using robust decentralized periodic output feedback technique[J]. Smart Materials and Structures, 2005, 14(4): 624-636.
[6]  Bai Yuanqiang, Grigoriadis K M, Song G. Active fault tolerant control of a flexible beam[J]. Proceeding of SPIE, 2007, 6253: 1-12.
[7]  马天兵, 裘进浩, 季宏丽, 等. 振动控制中的局部应变补偿和改进PPF算法[J]. 华南理工大学学报:自然科学版, 2012, 40(5): 41-46. Ma Tianbing, Qiu Jinhao, Ji Hongli, et al. Local strain compensation and improved PPF algorithm for vibration control[J]. Journal of South China University of Technology: Natural Science Edition, 2012, 40(5): 41-46.
[8]  孙佳, 裘进浩, 费利萍, 等. 基于阻抗技术的压电元件自损伤检测[J]. 振动、测试与诊断, 2011, 8(4): 454-458. Sun Jia, Qiu Jinhao, Fei Liping, et al. Piezoelectric transducer self-diagnosis based on impedance technology[J]. Journal of Vibration, Measurement and Diagnosis, 2011, 8(4): 454-458.
[9]  邱志成. 柔性机械臂的变结构振动控制研究[J]. 动力学与控制学报, 2007, 5(1): 62-67. Qiu Zhichen. Study on variable structure vibration control for flexible manipulator[J]. Journal of Dynamics and Control, 2007, 5(1): 62-67.
[10]  赵金宪, 金鸿章. 基于小波包和神经网络的瓦斯传感器故障诊断[J]. 传感器与微系统, 2010, 29(5): 80-82. Zhao Jinxian, Jin Hongzhang. Gas sensor fault diagnosis based on wavelet packet and neural network[J]. Transducer and Micro System Technologies, 2010, 29(5): 80-82.
[11]  刘金琨. 机器人控制系统的设计与Matlab仿真[M]. 北京: 清华大学出版社, 2012.
[12]  陈伟根, 邓帮飞. 小波包能谱熵与神经网络在断路器故障诊断中的应用[J]. 重庆大学学报, 2008, 31(7): 744-748. Chen Weigen, Deng Bangfei. Applying wavelet packet energy entropy and neural networks to diagnose circuit breaker faults[J]. Journal of Chongqing University, 2008, 31(7): 744-748.
[13]  汪性武. 柔性机械臂的振动控制[D]. 南京: 南京航空航天大学, 2004. Wang Xingwu. Vibration control for flexible manipulator[D]. Nanjing: Nanjing University of Aeronautics and Astronautics, 2004.
[14]  马天兵, 裘进浩, 季宏丽, 等. 基于粒子群的压电结构多目标同步优化控制[J]. 沈阳工业大学学报, 2012, 34(5): 569-575. Ma Tianbing, Qiu Jinhao, Ji Hongli, et al. Multi-objective simultaneous optimization control for piezoelectric structure based on particle swarm[J]. Journal of Shenyang University of Technology, 2012, 34(5): 569-575.
[15]  方少吉, 王丽荣, 朱计华, 等. 水下机器人传感器容错控制技术的研究[J]. 机器人, 2007, 29(2): 155-159. Fang Shaoji, Wang Lirong, Zhu Jihua, et al. Sensor fault-tolerant control of an autonomous underwater vehicle[J]. Robot, 2007, 29(2): 155-159.

Full-Text

Contact Us

service@oalib.com

QQ:3279437679

WhatsApp +8615387084133