琚世杰, 程良彦, 闫安志.压电柔性机械臂振动模拟与BP-PID控制[J].河南理工大学学报（自然科学版）,2022,41(1):107-113.

JU S J, CHENG L Y, YAN A Z,et al. Vibration simulation and BP-PID control of flexible arm [J].Journal of Henan Polytechnic University(Natural Science) ,2022,41(1):107-113.

压电柔性机械臂振动模拟与BP-PID控制

琚世杰, 程良彦, 闫安志

河南理工大学 土木工程学院，河南 焦作454000

摘要:为了提高柔性臂的控制精度，以悬臂机械臂为研究对象，首先，根据欧拉-伯努利梁模型推导压电柔性机械臂的微分方程，采用ANSYS模拟得到前两阶弯曲振型，为PZT的粘贴位置提供依据；其次，利用现代控制理论得到压电柔性臂系统的状态空间方程，分别采用PID和BP-PID对柔性臂进行独立模态控制；最后，分别利用两种控制方法对机械臂末端位移进行控制仿真。结果表明，BP-PID控制精度较高，鲁棒性较强，在结构振动控制领域有着较好的应用前景。

关键词:压电柔性机械臂;独立模态;BP-PID控制;PID控制

doi:10.16186/j.cnki.1673-9787.2020110007

基金项目:国家自然科学基金资助项目（51708186）

收稿日期:2020/11/02

修回日期:2021/03/03

出版日期:2022/01/10

Vibration simulation and BP-PID control of flexible arm

JU Shijie, CHENG Liangyan, YAN Anzhi

College of Civil Engineering， Henan Polytechnic University， Jiaozuo 454000 ， Henan， China

Abstract: In order to improve the control precision of the flexible arms，the cantilever manipulator was taken as the research object． Firstly，the differential equation of the flexible arm was derived according to the Euler-Bernoulli beam model，and the first two bending modes were obtained by ANSYS simulation，which provided the basis for the PZT bonding position． Secondly，the state space equation of the piezoelectric flexible arm system was obtained by using the modern control theory． PID control and BP-PID control were adopted respectively， and the independent mode control of the flexible arm was carried out． Finally，two control methods were used to control the end displacement of the manipulator． The results showed that the BP-PID control had higher precision and stronger robustness，it had a good application prospect in the field of structural vibration control.

Key words:piezoelectric flexible mechanical arm;independent mode;BP-PID control;PID control

 压电柔性机械臂振动模拟与BP-PID控制_琚世杰.pdf