仿禽类颈部多节柔性隔振定位结构动力学分析及时滞控制

There are increasing demands for high precision, lightweight and instantaneous fast moving positioning structures in the fields of aerospace, ship engineering, intelligent robots etc. Aiming at solving common problems of vibration suppression for these kinds of continuous or multi-element flexible coupling structures, a new type of space vibration isolation structure with flexible characteristics is proposed based on bionics. Three scientific problems are proposed as (1) the bionic mechanism of birds neck and its dynamical modeling of the biomimetic nonlinearity vibration isolation structure; (2) flexible dynamical characteristics of multi-segment biomimetic vibration isolation structure and the novel isolation mechanism based on synchronization; (3) time-delay coordinated control method and prototype realization of the multi-segment flexible isolation structure. The dynamic characteristics of the biomimetic isolation structure are deeply studied, in which the biomimetic mechanism modeling and description of flexible dynamic characteristics are study emphasis. Then, the original theoretical and experimental analysis methods for biomimetic rigid-flexible-time-delay control vibration isolation structure are proposed. This project adopts the time-delay control theory, the stability theory of time-delay non-linear system and the energy transfer analysis method of nonlinear coupled structure under different excitations. The relationship between structural design, structural parameters, control strategy and coordinated motion characteristics of units and dynamic characteristics of the system is discussed emphatically to obtain the bionic design of flexible vibration isolation structure like birds neck with time-delay coordinated control. The research results of the project aim to form the theory of biomimetic structure for the rapid and stable positioning and realize the application of prototype. This project strives to break the bottleneck of vibration isolation field on wide-broadband vibration isolation and positioning technology and to demonstrate the successful application of time-delay coordinated control in the flexible coupling dynamical system.

航空航天、船舶、机器人等领域对高精准、轻量化和瞬时移动定位的需求日益增长，为了解决柔性结构振动抑制共性问题，基于仿生思想提出仿禽类颈部结构，通过（1）仿禽类颈部隔振结构的仿生机理及非线性动力学建模；（2）多节隔振结构的柔性动力学特征及基于同步的隔振机理；（3）多节柔性隔振结构的时滞协调控制方法及样机实现这三个科学问题，深入研究仿生刚-柔-时滞控制隔振结构的理论与方法，重点研究仿生机理建模、柔性动力学特征分析、时滞协调控制方法，提供具有独创性的空间隔振定位理论及实验方法。本项目针对复杂激励下的仿生隔振结构，采用时滞控制理论、时滞系统稳定性理论及耦合结构能量转移分析方法，着重讨论结构设计、参数、控制与单元协调运动和系统动力学特性的关系，初步形成仿禽类颈部此类柔性隔振结构的设计理论依据及时滞协调控制方法。项目研究成果力争突破宽频隔振定位技术瓶颈，并展示时滞协调控制在柔性耦合系统中的成功应用。

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