CN1325893C - Motion control and vibration control experimental system for flexible cantilever beam in noninertial system - Google Patents

Abstract

An experimental system for motion control and vibration control of flexible cantilever beams in a non-inertial system. Piezoelectric sensors and piezoelectric actuators are pasted on the aluminum beams and set on the high-speed rotating test bench through fixtures. The analog output terminal of the DSP control card Connect the analog input terminal of the high-voltage power amplifier, the voltage output terminal of the high-voltage power amplifier is connected to the electrode of the piezoelectric actuator, the electrode of the piezoelectric sensor is connected to the analog input terminal of the DSP control card through the signal conditioning amplifier, and the motor motion control card The controller connection end of the motor driver is connected to the controller connection end of the motor driver, and the encoder connection end of the motor driver is connected to the high-speed rotary test bench. Both the DSP control card and the motor motion control card are inserted into the IO expansion slot of the computer. The invention can be used to test the correctness and validity of the rigid-flexible coupling dynamic model; at the same time, it integrates the motion control subsystem and the vibration active control subsystem, and provides an open hardware for the precise positioning and vibration control of the high-speed rotating flexible beam platform.

Description

Motion Control and Vibration Control Experimental System of Flexible Cantilever Beam in Non-inertial System

technical field

The invention relates to a motion control and vibration control experiment system, in particular to a motion control and vibration control experiment system of a flexible cantilever beam in a non-inertial system, which is used in the field of mechanical engineering.

Background technique

In the process of developing the prototype system of the key technical unit of IC post-packaging equipment, the mechanical model of the rotating flexible cantilever beam was abstracted. Due to the specific characteristics of the IC industry, the positioning accuracy of the rotating flexible beam is required to be less than 5 μm, and it is required to rotate at high speed and high speed. Vibration active control is implemented under acceleration start-stop conditions.

The motion control and vibration control experimental system based on high-speed and high-acceleration rotating flexible cantilever beams can reveal new mechanical phenomena of key technology units of IC post-packaging under extreme conditions, and deepen the understanding of the existing theory of flexible multi-body system dynamics. Promote people's in-depth research on rigid-flexible coupling dynamics modeling theory, and raise the research level of motion control and vibration control of rotating flexible cantilever beam to a new level. So far, there have been few reports on the experimental research on the "dynamic rigidity" of the high-speed rotating flexible cantilever beam, and the research on the active control experiment of the rotating flexible cantilever beam is far behind the development of theoretical research, which greatly limits the development of These theoretical research results are applied to many control systems with flexible structures, such as robots, manipulators, helicopter rotors, and spacecraft with flexible attachments.

After searching the literature of the prior art, it was found that "Experimental Research on Dynamic Stiffening Problems" published by Yang Hui et al. The floating and rotating flexible beam experimental system adopts the full physical simulation experimental equipment of the satellite sailboard, which is mainly composed of a single-axis air bearing platform, a flexible beam and an induction synchronizer. When the platform rotates, the damping at the bearing is very small. The star part of the single-axis air bearing table is equivalent to a rigid body that can rotate around the central axis, and the flexible aluminum beam is fixed on a certain position of the rigid aluminum alloy frame on the star. The experimental system uses a magnetic induction synchronizer to measure the rotation angle of the air bearing platform, and transmits it to the ground computer through the angle digital display. The system is designed with a low-damping spacecraft with flexible attachments as a physical model, and its rotational angular velocity is relatively low, which can be used to verify the correctness of the rigid-flexible coupling dynamics modeling method and reveal some vibration characteristics of the entire rigid-flexible coupling system. However, this experimental device cannot meet the requirements of the current theoretical research on the motion control and vibration control of the rotating flexible cantilever beam: there is no actuating device on the flexible beam, and the active control of vibration cannot be realized; the rotational motion of the star part of the air bearing platform is not affected The control of the feedback channel cannot realize the motion control and precise positioning of the flexible beam; the whole system works under low-speed conditions, and cannot be applied to the experimental research of high-speed, high-acceleration rotating flexible beams.

Contents of the invention

The purpose of the present invention is to overcome the deficiencies in the prior art, to provide a non-inertial system of flexible cantilever beam motion control and vibration control experimental system, so that it can be used to verify the modeling theory of rigid-flexible coupling dynamics, reveal rigid-flexible The dynamic characteristics of the coupling system and the new mechanical phenomenon of the rotating flexible beam under high acceleration start-stop conditions. More importantly, the system can realize the sharing and fusion of motion signals and vibration signals on the computer, thus facilitating the implementation of non-inertial system Precise positioning and vibration control of the lower flexible beam.

The present invention is realized through the following technical solutions, and the present invention includes: a high-voltage power amplifier, a piezoelectric sensor, a piezoelectric actuator, an aluminum beam, a fixture, a high-speed rotating test bench, a motor driver, a motor motion control card based on a PCI bus, and a computer , DSP control card and signal conditioning amplifier based on PCI bus. Paste the piezoelectric sensor and piezoelectric actuator on the aluminum beam, and set it on the high-speed rotating test bench through the fixture. The analog output terminal of the DSP control card is connected to the analog input terminal of the high-voltage power amplifier, and the voltage output terminal of the high-voltage power amplifier is connected to the On the electrodes of the piezoelectric actuator, the electrodes of the piezoelectric sensor are connected to the analog input terminal of the DSP control card through the signal conditioning amplifier, the controller connection terminal of the motor motion control card is connected to the controller connection terminal of the motor driver, and the code of the motor driver The connector of the controller is connected to the high-speed rotary test bench, and the DSP control card and the motor motion control card based on the PCI bus are inserted into the IO expansion slot of the computer.

The present invention takes the computer as the center, and is mainly divided into two parts: one part is a rotating flexible beam motion control subsystem composed of a high-speed rotating test bench, a motor driver, a servo motor motion control card based on a PCI bus, and a computer; The flexible beam vibration active control subsystem is composed of electrical sensors and actuators, high-voltage power amplifiers, signal conditioning amplifiers, DSP control cards based on PCI bus and computers. The function of the first part is to realize high-speed rotation and high-acceleration start and stop, stimulate the elastic vibration of the flexible beam, execute the motion control command of the computer, and feed back the motion signal of the motor in real time; the function of the second part is to actively suppress the elastic vibration of the flexible beam, Execute the vibration control command of the computer, and output the elastic vibration signal of the flexible beam. The signal transmission relationship is as follows: the motion control subsystem and the vibration control subsystem respectively transmit the motion signal and the vibration signal to the computer, and the computer realizes the information sharing and fusion of the motion signal and the vibration signal, and then sends the motion control subsystem and the vibration control signal respectively. The subsystem outputs motion control signals and vibration control signals, and the vibration control and motion control are implemented synchronously to achieve precise positioning and vibration control of the rotating flexible beam.

The high-speed rotary test bench is composed of a high-performance AC servo motor with a maximum speed of 3000rpm, a transmission shaft, a mounting plate and a bracket. In order to improve the rigidity of the system, the mounting plate and the transmission shaft are designed as one. The AC servo motor is set on the support, the aluminum beam is set on the transmission shaft through the clamp on the mounting plate, and the AC servo motor drives the flexible aluminum beam to rotate at high speed through the transmission shaft. The encoder connection end of the motor driver is connected to the encoder of the AC servo motor in the high-speed rotary test bench, and the motor connection terminal of the motor driver is connected to the motor cable of the AC servo motor. Here, a high-performance AC servo motor is selected to generate instantaneous large torque, and the torque output is stable, which can drive the flexible beam to achieve high-speed rotation and high-acceleration start and stop, and meet the requirements of precise positioning; the angle of the motor is obtained by the photoelectric encoder embedded in the motor. The displacement is fed back to the motor motion control card through the motor driver, and the angular velocity value can be obtained after numerical differentiation and data smoothing of the measured angular displacement. The motor motion control card feeds back these motion signals to the computer; the aluminum beam is pasted as a sensor The piezoelectric ceramic material of the actuator and the actuator can realize the sensing of vibration signals and the implementation of active vibration control; various fixtures can be fixed on the mounting plate to make the flexible beam horizontal or vertical.

The present invention has substantive features and significant progress. The present invention can be used to test the correctness and effectiveness of the rigid-flexible coupling dynamics model, and promote people's in-depth research on the rigid-flexible coupling dynamics modeling theory; at the same time, the present invention integrates motion The control subsystem and the vibration active control subsystem provide an open hardware platform for the experimental research on the precise positioning and vibration control of high-speed rotating flexible beams.

Description of drawings

Fig. 1 structural representation of the present invention

Fig. 2 block diagram of the present invention's signal transfer relationship

Fig. 3 structural representation of high-speed rotary test bench of the present invention

Detailed ways

As shown in Figure 1, the present invention comprises: high-voltage power amplifier 1, aluminum beam 2, piezoelectric actuator 3, piezoelectric sensor 4, fixture 5, high-speed rotating test bench 6, motor driver 7, the motor motion based on PCI bus Control card 8, computer 9, DSP control card 10 and signal conditioning amplifier 11 based on PCI bus. The piezoelectric sensor 4 and the piezoelectric actuator 3 are pasted on the aluminum beam 2, and are set on the high-speed rotating test bench 6 through the fixture 5. The analog output terminal of the DSP control card 10 is connected to the analog input terminal of the high-voltage power amplifier 1, and the high-voltage power The voltage output terminal of the amplifier 1 is connected to the electrode of the piezoelectric actuator 3, the electrode of the piezoelectric sensor 4 is connected to the analog input terminal of the DSP control card 10 through the signal conditioning amplifier 11, and the controller connection terminal of the motor motion control card 8 Connect the controller connection end of motor driver 7, the encoder connection end of motor driver 7 is connected in the high-speed rotary test bench 6, the motor motion control card 8 based on PCI bus, the DSP control card 10 all insert the IO expansion slot of computer 9.

As shown in Figure 2, the present invention can be divided into two parts according to the signal transmission relation, wherein high-speed rotary test bench 6, motor driver 7, servo motor motion control card 8 and computer 9 based on PCI bus form motion control subsystem; Sensor 4, piezoelectric actuator 3, high-voltage power amplifier 1, signal conditioning amplifier 11, DSP control card 10 based on PCI bus and computer 9 form a vibration control subsystem. The motion control signal and the vibration control signal are transmitted to the computer 9 by the motion control subsystem and the vibration control subsystem respectively, and after being processed by the computer 9, the computer 9 sends the motion control signal and the vibration control vibration Control signals, so as to realize the precise positioning of the rotating flexible beam and the active control of vibration.

The vibration control signal sent by the DSP control card 10 is sent to the piezoelectric actuator 3 through the high-voltage power amplifier 1 , and the sensing signal of the piezoelectric sensor 4 is sent to the DSP control card 10 through the signal conditioning amplifier 11 . The motor motion control card 8 realizes two-way communication through the motor driver 7 and the high-speed rotating test bench 6: the motor motion control card 8 sends a motion control signal to the test bench 6, and the test bench 6 returns a motion signal in real time. The DSP control card 10 and the motor motion control card 8 realize the sharing and fusion of vibration control signals and motion control signals in the computer 9 .

As shown in Figure 3, the high-speed rotary test bench 6 includes: a mounting plate 12, a transmission shaft 13, a bracket 14 and an AC servo motor 15; Connected, the bracket 14 is fixed on the ground, and the AC servo motor 15 is set on the bracket 14, and drives the aluminum beam to rotate at high speed through the transmission shaft 13, so as to realize high-speed rotation and high-acceleration start and stop.

The encoder connection end of the motor driver 7 is connected to the encoder of the AC servo motor 15 in the high-speed rotation test bench 6, and the motor connection terminal of the motor driver 7 is connected to the motor cable of the AC servo motor 15.

Claims (3)

1. An experimental system for motion control and vibration control of a flexible cantilever beam in a non-inertial system, including: a high-voltage power amplifier (1), an aluminum beam (2), a piezoelectric sensor (4), a fixture (5), and a high-speed rotation experiment Platform (6), motor driver (7), computer (9) and signal conditioning amplifier (11), are characterized in that, also comprise: piezoelectric actuator (3), the motor motion control card (8) based on PCI bus , DSP control card (10) based on PCI bus, piezoelectric sensor (4) and piezoelectric actuator (3) are pasted on the aluminum beam (2), and set on the high-speed rotating test bench (6) by the fixture (5) above, the analog output terminal of the DSP control card (10) is connected to the analog input terminal of the high-voltage power amplifier (1), and the voltage output terminal of the high-voltage power amplifier (1) is connected to the electrodes of the piezoelectric actuator (3). The electrodes of the sensor (4) are connected to the analog input end of the DSP control card (10) through the signal conditioning amplifier (11), and the controller connection end of the motor motion control card (8) is connected to the controller connection end of the motor driver (7), The encoder connection end of motor driver (7) is connected in the high-speed rotary test bench (6), and the DSP control card (10) and the motor motion control card (8) based on PCI bus all insert the IO expansion slot of computer (9). 2. The motion control and vibration control experimental system of a flexible cantilever beam in a non-inertial system according to claim 1, wherein the high-speed rotating test bench (6) includes: a mounting plate (12), a transmission shaft (13), The bracket (14) and the AC servo motor (15), the aluminum beam (2) are set on the mounting plate (12) through the clamp (5), the mounting plate (12) and the transmission shaft (13) are fixedly connected, and the bracket (14) is fixed On the ground, the AC servo motor (15) is arranged on the support (14). 3. The motion control and vibration control experimental system of a flexible cantilever beam in a non-inertial system according to claim 1 or 2, characterized in that the encoder connection end of the motor driver (7) is connected to the high-speed rotating test bench (6) The encoder of the AC servo motor (15) in, the motor connection terminal of the motor driver (7) and the motor cable of the AC servo motor (15) are connected.

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