doi:10.16186/j.cnki.1673-9787.2020110007

Received:2020/11/02

Revised:2021/03/03

Published: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