Vibration Control Of Flexible Rotating Piezoel-Ectric Smart Beam With Stretched Members

In recent years,flexible manipulator systems with extension members have been widely used in aerospace engineering and industrial production.This type of system induces vibration during motion and may affect its life and positioning accuracy.Therefore,based on the absolute joint coordinate method,the dynamic modeling and vibration of flexible rotating piezoelectric intelligent beam system with extension members are carried out.Control analysis.The main research contents are:(1)Based on the absolute nodal coordinate method,the nonlinear dynamic equation of piezoelectric cantilever beam considering the influence of piezoelectric piece is established.The correctness of theoretical modeling is verified by an example of the classical bimorphic cantilever beam in the literature.(2)For the axially extending piezoelectric cantilever beam,the position of the piezoelectric piece is changed along with the axial extension of the beam,and the dynamic equation is established by dividing the unit by variable unit length.The end defflection of the axially extending piezoelectric cantilever beam at different stretching rates was calculated and compared.The results show that the greater the stretching rate,the smaller the vibration frequency.(3)For the vibration control problem of axially extending piezoelectric cantilever beam,PID and fuzzy PID controller are designed.The control effects of the two controllers on the tip deflection of cantilever beam extending at different rates are compared under the same condition parameters.The results show that the greater the rate of beam extension,the more favorable the vibration control.(4)The vibration control analysis of the system with extended piezoelectric cantilever beam and flexible piezoelectric rotating beam is carried out,and the dynamic equation of the beam system is established.Under the condition that the cantilever beam is uniformly deformed and deformed,the influence of the absolute displacement,rotation angle and end deflection of the piezoelectric piece on the end of the rotating beam is analyzed.Then,the tension beam is stretched without extension and the extension is not extended.The control of the end deflection of the composite beam on the rotating beam compares the control effects of different numbers of different positions of the piezoelectric sheet.The results show that the selection of the number and position of the piezoelectric sheet has a significant effect on the control effect.In a certain range,the closer the piezoelectric piece is to the rotating hinge,the better the control performance.Finally,the vibration of the end of the rotating beam when the stretching beam is stretched and deformed is analyzed when the beam is rotated and the middle part of the beam is pasted.Control the situation and achieve better control results.