Piezoelectric Micro-Vibration Control of Flexible Arm Driven by Single Motor

This work proposed a piezoelectric micro-vibration control method on the flexible arm driven by a stepper motor and a harmonic reducer. In order to introduce the effect of micro-vibration, the dynamic model of the driving mechanism is directly considered in the micro-vibration control system. First, according to the working principle of the stepper motor and the reducer, the theoretical model and the equivalent dynamic model of the stepper motor and the harmonic reducer were derived; then, based on the Lagrange equation modeling method, the entire control system was derived as a nonlinear rigid-flexible and electromechanical coupling dynamics model, which includes the piezoelectric flexible arm, the stepper motor and the harmonic reducer. Furthermore, combined with the proportional velocity negative feedback control algorithm, a micro-vibration closed-loop control model was built using the Simulink platform, and the micro-vibration control effect was simulated and analyzed. The simulation results show that the single drive motor has a significant nonlinear effect on the micro-vibration response of the flexible arm. And the piezoelectric structure has a very effective micro-vibration control effect on the flexible arm driven by a single motor.