针对永磁直线电机（PMLM）驱动单连杆柔性机械臂（SLFM）做点到点运动时存在残余振动从而影响柔性臂末端迅速精准定位的问题，研究了基于PMLM平动柔性臂系统的试验模型辨识问题。建立了从位置指令到柔性臂根部应变振动信号的传递函数模型，并对模型采用阶跃输入法和扫频激励法进行了试验辨识，为开展基于PMLM的平动柔性臂系统抑制残余振动控制提供了模型基础。试验结果得出辨识模型在2种激励信号下的仿真输出与实际结构动态响应的吻合度均较高，验证了模型辨识结果的正确性，并反映了基于PMLM的平动柔性臂系统的动力学特性。

The residual vibration of the single-link flexible manipulator (SLFM) occurs during the point-to-point motion driven by the permanent magnet linear motor (PMLM)which can affect the rapid and precise location. To suppress the residual vibrationthe model identification of translational flexible manipulator system driven by PMLM is studied. The transfer function from position command to strain vibration at the root of the flexible manipulator is establishedand then the model is identified by step and frequency sweep input methodwhich lay the foundation for the control method of flexible manipulator system driven by PMLM to suppress the residual vibration. The experimental results show that the fitting ratios between the simulation output value of the identification model and the actual dynamic response of the PMLM SLFM system are both high. The results verify the model identification and also reflect the dynamic characteristics of the flexible manipulator system based on PMLM.

TM359.4

江苏省自然科学基金项目（BK20191286）