Vibration Suppression of Large Flexible Structure Based on Cable-driven Parallel Robots

doi:10.3901/JME.2019.11.053

Abstract

Abstract: With the benefits of large workspace, low energy consumption and small inertia, a flexible cable-driven parallel robot (CDPR) is suitable for vibration suppression of long-size flexible truss mechanism. A flexible cable-driven parallel mechanism used for vibration attenuation of large-size flexible truss is presented. Kinematics and static model of the CDPR is analyzed by principle of closed loop vector and geometric characteristic of mechanism. The long-size flexible truss is simplified as a beam, and the mode superposition method is used to solve the forced response under external excitation. Vibration suppression of the long-size flexible structure with model uncertainties are considered. A control strategy based on fuzzy and PID control scheme is proposed. The simulation results show that the presented system have great affection on the vibration suppression of the long-size flexible truss, whose amplitude and vibration decay time are significantly reduced. In addition, four cable tension values can be changed within a suitable range.

Key words: cable parallel manipulator, fuzzy PID control, large flexible truss mechanism, vibration attenuation

CLC Number:

TP242

SUN Haining, TANG Xiaoqiang, WANG Xiaoyu, CUI Zhiwei, HOU Senhao. Vibration Suppression of Large Flexible Structure Based on Cable-driven Parallel Robots[J]. Journal of Mechanical Engineering, 2019, 55(11): 53-60.

References

[1] 楚中毅,马静,李丹. 空间柔性伸杆机构振动抑制的半物理仿真试验[J]. 机械工程学报,2012,48(21):8-14. CHU Zhongyi,MA Jing,LI Dan. Semi-physical simulation experiments on vibration control of flexible space manipulator[J]. Journal of Mechanical Engineering,2012,48(21):8-14.
[2] XIAO B,HU Q,ZHANG Y. Adaptive sliding mode fault tolerant attitude tracking control for flexible spacecraft under actuator saturation[J]. IEEE Transactions on Control Systems Technology,2012,20(6):1605-1612.
[3] MALEKZADEH M,KARIMPOUR H. Adaptive super twisting vibration control of a flexible spacecraft with state rate estimation[J]. Journal of Sound and Vibration,2018,422:300-317.
[4] JAMSHIDIFAR H,KHOSRAVANI S,FIDAN B,et al. Vibration decoupled modeling and robust control of redundant cable-driven parallel robots[J]. IEEE/ASME Transactions on Mechatronics,2018,23(2):690-701.
[5] JI N,LIU J. Vibration control for a flexible satellite with input constraint based on Nussbaum function via back stepping method[J]. Aerospace Science & Technology,2018,77:563-572.
[6] 陶佳伟,张涛. 控制受限的挠性航天器姿态机动控制和振动抑制[J]. 电机与控制学报,2018(3):105-113. TAO Jiawei,ZHANG Tao. Robust adaptive attitude maneuvering and vibration reducing control of flexible spacecraft with input saturation[J]. Electric Machines and Control,2018(3):105-113.
[7] 许建国,邵康,张静静. 空间桁架结构的优化配置及振动控制研究[J]. 计算机测量与控制,2016,24(3):67-70. XU Jianguo,SHAO Kang,ZHANG Jingjing. Research on optimal allocation and vibration control of space truss structure[J]. Computer Measurement & Control,2016,24(3):67-70.
[8] 张金龙,卢少波,时军委. 驱动激励下的柔性太阳翼系统振动及抑制研究[J]. 载人航天,2017,23(4):487-492. ZHANG Jinlong,LU Shaobo,SHI Junwei. Research on vibration and its attenuation of flexible solar array induced by sun-tracking driving[J]. Manned Spaceflight,2017,23(4):487-492.
[9] 姚蕊,唐晓强,汪劲松. 射电望远镜馈源支撑系统索力特性研究[J]. 自然科学进展,2009,19(11):1221-1229. YAO Rui,TANG Xiaoqiang,WANG Jinsong. Cable tension analysis and optimization of radio telescope feed support system[J]. Progress in Natural Science,2009,19(11):1221-1229.
[10] LAPIDUS S G. The factors to be considered in the correct cable for variable frequency drive applications on cranes[C]//Industry Applications Conference,1998. Thirty-Third IAS Annual Meeting. IEEE,1998:2257-2262.
[11] CONG B P,SONG H Y,YANG G. Tension analysis of cable-driven parallel mechanisms[C]//International Conference on Intelligent Robots and Systems,IEEE,2005:257-262.
[12] HILLER M,FANG S,MIELCZAREK S,et al. Design,analysis and realization of tendon-based parallel manipulators[J]. Mechanism & Machine Theory,2005,40(4):429-445.
[13] TANG X,YAO R. Dimensional design on the six-cable driven parallel manipulator of FAST[J]. Journal of Mechanical Design,2011,133(11):111012.
[14] 唐乐为,唐晓强,汪劲松,等. 七索并联对接机构作业空间分析及索力优化设计[J]. 机械工程学报,2012,48(21):1-7. TANG Lewei,TANG Xiaoqiang,WANG Jinsong,et al. Workspace analysis and tension optimization design in docking parallel mechanism driven by seven cables[J]. Journal of Mechanical Engineering,2012,48(21):1-7.
[15] 张义民. 机械振动学基础[M]. 北京:清华大学出版社,2007. ZHANG Yimin. Mechanical vibration[M]. Beijing:Tsinghua University Press,2007.