基于平行绳索构型的柔性梁结构抑振控制

唐乐为; 石朋帅

doi:10.16511/j.cnki.qhdxxb.2020.26.024

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清华大学学报（自然科学版） ›› 2021, Vol. 61 ›› Issue (3) : 202-208. DOI: 10.16511/j.cnki.qhdxxb.2020.26.024

索驱动机器人

基于平行绳索构型的柔性梁结构抑振控制

唐乐为, 石朋帅

作者信息 +

Vibration suppression in flexible parallel cable structures

TANG Lewei, SHI Pengshuai

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文章历史 +

摘要

基于结构质量轻、载重比大和成本低等优点，大型桁架结构在航海和航天等领域得到了广泛应用。桁架结构在长径比较大时表现出一定的柔性，在外部激励作用下会引起设备振动，影响使用性能。该研究以Euler-Bernoulli梁作为柔性机构的简化模型，采用平行绳索构型的抑振结构，结合MATLAB/Simulink提出基于索力控制的柔性梁抑振控制方法。该文分析平行绳索构型的被动和主动抑振2种模式。结果表明：平行绳索构型抑振方案能够有效减少端点位置的振动，被动绳索抑振方案能快速抑制振动，但是索力无法控制；主动抑振方案能有效控制绳索索力大小，但是抑振时间相对较长。

Abstract

Large trusses are widely used in the navigation and aerospace fields due to their lightweight structures, high payload-weight ratios and low costs. Since trusses with large length-diameter ratios are flexible, they have vibrations due to external excitations that impact the entire system performance. A parallel cable configuration acting as an Euler-Bernoulli beam for simplified trusses was used in this study to suppress vibrations in the truss. The control method, which is a function of the cable length, was modeled in MATLAB/Simulink. Parallel cables have active and passive dynamic modes. The results show that the vibrations far from the cable attachment points are effectively reduced by the cable configuration. The cable tension suppresses the short period deformation in the passive cable mode without tension control, while the active mode with tension control suppresses the vibrations over relatively long suppression periods.

导出引用

唐乐为, 石朋帅. 基于平行绳索构型的柔性梁结构抑振控制[J]. 清华大学学报（自然科学版）. 2021, 61(3): 202-208 https://doi.org/10.16511/j.cnki.qhdxxb.2020.26.024

TANG Lewei, SHI Pengshuai. Vibration suppression in flexible parallel cable structures[J]. Journal of Tsinghua University(Science and Technology). 2021, 61(3): 202-208 https://doi.org/10.16511/j.cnki.qhdxxb.2020.26.024

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收稿日期	出版日期
2020-06-06	2021-03-15
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2021-03-06

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