scholarly journals Modelling and Composite Control of Single Flexible Manipulators with Piezoelectric Actuators

2016 ◽  
Vol 2016 ◽  
pp. 1-14 ◽  
Author(s):  
En Lu ◽  
Wei Li ◽  
Xuefeng Yang ◽  
Mengbao Fan ◽  
Yufei Liu
Keyword(s):  
Vibration Suppression ◽  
Control Method ◽  
Sliding Mode ◽  
Piezoelectric Actuators ◽  
Flexible Manipulator ◽  
Optimal Placement ◽  
Flexible Manipulators ◽  
Linear Quadratic ◽  
Fast Subsystem ◽  
Slow Subsystem

The piezoelectric actuators are used to investigate the active vibration control of flexible manipulators in this paper. Based on the assumed mode method, piezoelectric coupling model, and Hamilton’s principle, the dynamic equation of the single flexible manipulator (SFM) with surface bonded actuators is established. Then, a singular perturbation model consisted of a slow subsystem and a fast subsystem is formulated and used for designing the composite controller. The slow subsystem controller is designed by fuzzy sliding mode control method, and the linear quadratic regulator (LQR) optimal control method is used to design fast subsystem controller. Furthermore, the changing trends of natural frequencies along with the changes in the position of piezoelectric actuators are obtained through the ANSYS Workbench software, by which the optimal placement of actuators is determined. Finally, numerical simulations and experiments are presented. The results demonstrate that the method of optimal placement is feasible based on the maximal natural frequency, and the composite controller presented in this paper can not only realize the trajectory tracking of the SFM and has a good result on the vibration suppression.

Flexible Manipulator Control Based on Singular Perturbation Theory Study

2013 ◽  
Vol 346 ◽  
pp. 69-73 ◽  
Author(s):  
Ping Lin Zeng ◽  
San Xiu Wang ◽  
Ji Jian Qiu ◽  
Shou Ren Ma ◽  
Xiao Fei Wan
Keyword(s):  
Perturbation Theory ◽  
Singular Perturbation ◽  
Sliding Mode ◽  
Flexible Manipulator ◽  
Singular Perturbation Theory ◽  
Reference Trajectory ◽  
Flexible Link ◽  
Fast Subsystem ◽  
Slow Subsystem ◽  
Manipulator Control

Aiming at the problem of tracking the reference trajectory and suppressing the beam vibration for flexible manipulator, this paper separated the system of flexible-link manipulator into slow subsystem and fast subsystem two different time scale subsystems based on singular perturbation theory and proposes a simple composite control algorithm. For the slow subsystem, a sliding mode controller is employed to track the desired trajectory, while optimal controller is used to stabilize the fast subsystem to suppress the vibration. Finally, the simulation results demonstrate the good performance of the proposed control strategy.

Optimal placement and active vibration control for piezoelectric smart flexible manipulators using modal H2 norm

2018 ◽  
Vol 29 (11) ◽  
pp. 2333-2343 ◽  
Author(s):  
En Lu ◽  
Wei Li ◽  
Xuefeng Yang ◽  
Yuqiao Wang ◽  
Yufei Liu
Keyword(s):  
Vibration Control ◽  
Dynamic Equation ◽  
Vibration Suppression ◽  
Active Vibration Control ◽  
Piezoelectric Actuators ◽  
Flexible Manipulator ◽  
Optimal Placement ◽  
Singular Perturbation Method ◽  
Assumed Mode Method ◽  
Active Vibration

The optimal placement and active vibration control for piezoelectric smart single flexible manipulator are investigated in this study. Based on the assumed mode method and Hamilton’s principle, the dynamic equation of the piezoelectric smart single flexible manipulator is established. Then, the singular perturbation method is adopted and the coupled dynamic equation is decomposed into slow (rigid) and fast (flexible) subsystems. After that, the couple optimal placement criterion of piezoelectric actuators is proposed on the base of modal H2 norm of the fast subsystem and the change rate of natural frequencies. Using an improved particle swarm optimization algorithm, the optimal placement of piezoelectric actuators is realized. Subsequently, in order to verify the validity and feasibility of the presented optimal placement criterion, the composite controller is designed for the active vibration control of the piezoelectric smart single flexible manipulator. Finally, numerical simulations and experiments are presented. The results demonstrate that the piezoelectric smart single flexible manipulator system has a better single modal controllability and observability and has a good result on the vibration suppression using the optimization results of actuators. The proposed optimal placement criterion and method are feasible and effective.

The Composite Control for Single-Link Flexible Manipulator Using Dynamic Sliding Mode and Optimal Based on Dynamic Switching

2013 ◽  
Vol 275-277 ◽  
pp. 707-710 ◽  
Author(s):  
Ming Chu ◽  
Xia Deng ◽  
Qing Xuan Jia ◽  
Fei Jie Huang
Keyword(s):  
Sliding Mode ◽  
Flexible Manipulator ◽  
Sliding Mode Controller ◽  
Fast Subsystem ◽  
Composite Control ◽  
Dynamic Switching ◽  
Single Link ◽  
Simulation Results ◽  
Slow Subsystem ◽  
Dynamic Sliding Mode

A composite controller is designed based on the singular perturbation model of single-link flexible manipulators. A dynamic sliding mode controller is designed for the slow subsystem, and optimal controller is designed to stabilize the fast subsystem. Numerical simulation results confirm that the proposed controller not only can perform fast and accurate tracking, but also can reduce the chattering of the sliding-mode control, and the proposed controller can suppress the tip vibration of the flexible manipulator effectively.

scholarly journals The Study of Dynamic Modeling and Multivariable Feedback Control for Flexible Manipulators with Friction Effect and Terminal Load

Sensors ◽  
2021 ◽  
Vol 21 (4) ◽  
pp. 1522
Author(s):  
Fuli Zhang ◽  
Zhaohui Yuan
Keyword(s):  
Dynamic Model ◽  
Vibration Suppression ◽  
Control Method ◽  
Coupling Effect ◽  
Flexible Manipulator ◽  
Flexible Beam ◽  
Robot Dynamics ◽  
Joint Friction ◽  
Balance Principle ◽  
Multivariable Feedback

The flexible manipulato is widely used in the aerospace industry and various other special fields. Control accuracy is affected by the flexibility, joint friction, and terminal load. Therefore, this paper establishes a robot dynamics model under the coupling effect of flexibility, friction, and terminal load, and analyzes and studies its control. First of all, taking the structure of the central rigid body, the flexible beam, and load as the research object, the dynamic model of a flexible manipulator with terminal load is established by using the hypothesis mode and the Lagrange method. Based on the balance principle of the force and moment, the friction under the influence of flexibility and load is recalculated, and the dynamic model of the manipulator is further improved. Secondly, the coupled dynamic system is decomposed and the controller is designed by the multivariable feedback controller. Finally, using MATLAB as the simulation platform, the feasibility of dynamic simulation is verified through simulation comparison. The results show that the vibration amplitude can be reduced with the increase of friction coefficient. As the load increases, the vibration can increase further. The trajectory tracking and vibration suppression of the manipulator are effective under the control method of multi-feedback moment calculation. The research is of great significance to the control of flexible robots under the influence of multiple factors.

Sliding Mode Control of a Gossamer Structure Using Smart Materials

2004 ◽  
Vol 10 (8) ◽  
pp. 1199-1220 ◽  
Author(s):  
Akhilesh K. Jha ◽  
Daniel J. Inman
Keyword(s):  
Smart Materials ◽  
Polyvinylidene Fluoride ◽  
Vibration Suppression ◽  
Sliding Mode ◽  
Fiber Composite ◽  
Piezoelectric Actuators ◽  
System Structure ◽  
Mode Shapes ◽  
Space Applications ◽  
Piezoelectric Actuators And Sensors

Gossamer structures have been a subject of renewed interest for space applications because of their low weights, on-orbit deploying capabilities, and minimal stowage volumes. In this study, vibration suppression of an inflated structure using piezoelectric actuators and sensors has been attempted. These actuators and sensors can be suitably used for gossamer structures since they can conform to curved surfaces and provide distributed actuation and sensing capabilities. Using the natural frequencies and mode shapes of the system (structure, actuators, and sensors), a state-space model is derived. For designing a robust vibration controller, we used a sliding mode technique. The derivations of the sliding model controller and observer are presented in details. Finally, by means of numerical analysis, the method was demonstrated for an inflated torus considering Macro-Fiber Composite (MFC™) as actuators and Polyvinylidene Fluoride (PVDF) as sensors. The simulation studies show that the piezoelectric actuators and sensors are suitable for vibration suppression of an inflatable torus. The robustness properties of the controller and observer against the parameter uncertainty and disturbances are also studied.

Dynamic Modeling and Vibration Control of a Space Flexible Manipulator Using Piezoelectric Actuators and Sensors

2011 ◽  
Vol 345 ◽  
pp. 46-52 ◽  
Author(s):  
Jun Qiang Lou ◽  
Yan Ding Wei
Keyword(s):  
Vibration Control ◽  
Dynamic Modeling ◽  
Vibration Suppression ◽  
Equations Of Motion ◽  
Linear Quadratic Regulator ◽  
Flexible Manipulator ◽  
Coupled Vibration ◽  
Linear Quadratic ◽  
Space Manipulator ◽  
Tip Mass

This paper concerns the dynamic modeling and vibration control of a space two-link flexible manipulator. Two types of PZT actuators, PZT shear actuator and torsional actuator, are used to suppress the bending-torsional-coupled vibration of the space manipulator. Using extended Hamilton’s principle and the finite element method, equations of motion of the space flexible manipulator with PZT actuators and tip mass are obtained. Based on modal analyze theory, the state space model of the system is then used to design the control system. A linear quadratic regulator (LQR) controller is designed to achieve vibration suppression of the space manipulator system. From the numerical results, we can get that the proposed controller has a suitable and efficient performance suppressing the bending-torsional-coupled vibration of the space two-link flexible manipulator.

Variable fractional order sliding mode control for seismic vibration suppression of building structure

2021 ◽  
pp. 107754632110396
Author(s):  
Chunxiu Wang ◽  
Xingde Zhou ◽  
Yitong Jin ◽  
Xianzeng Shi
Keyword(s):  
Sliding Mode Control ◽  
Fractional Order ◽  
Vibration Suppression ◽  
Control Method ◽  
Sliding Mode ◽  
Building Structure ◽  
Seismic Excitations ◽  
Mode Control ◽  
Fractional Order Controller ◽  
Control Output

Constant fractional order vibration control strategy has been one of research hotspots in recent decades. However, the variable fractional order control method is seldom concerned up to now. In this article, a novel variable fractional order sliding mode control (VOSMC) method is proposed to suppress the responses of building structure caused by seismic excitations, including El Centro, Hachinohe, Northridge, and Kobe earthquakes. Based on the proposed variable fractional order sliding mode surface, the control law of VOSMC is presented. The global asymptotic stability of the control system is analyzed and proved by utilizing variable fractional order Lyapunov stability theorem. Besides, the corresponding constant fractional order sliding mode control (COSMC) method is also given. The control effects of VOSMC and COSMC methods are discussed by four performance indices. Finally, the utilizability and reasonability of the proposed control method is verified by using two examples (include two-story and five-story shear buildings). Compared with the COSMC method, the proposed variable fractional order controller not only has a lesser control output, but also has a higher utilization of the output, which is conducive to energy saving.

ROBUST CONTROL OF CHAOTIC VIBRATION OF COMPOSITE PLATE IN THE PRESENCE OF NOISE USING SLIDING MODE METHOD

2012 ◽  
Vol 22 (05) ◽  
pp. 1250106
Author(s):  
SHAMRAO ◽  
S. NARAYANAN
Keyword(s):  
Robust Control ◽  
Composite Plate ◽  
Control Method ◽  
Sliding Mode ◽  
Linear Quadratic ◽  
External Disturbances ◽  
Chaotic Vibration ◽  
Mode Method ◽  
Control Methodology ◽  
Cubic Stiffness

Robust control of chaotic vibration in composite plate in the presence of noise using sliding mode control methodology is considered in this paper. The composite plate system has a combination of linear, quadratic and cubic stiffness terms. Robustness of the controller is analyzed with reference to the parametric variations of the system and external disturbances due to noise and compared with Pyragas control method. The composite plate considered is a six-layered rectangular antisymmetric cross-ply plate with immovable edges. The plate is assumed to be viscously damped and harmonically excited.

Design and performance comparison of interconnection and damping assignment passivity-based control for vibration suppression in active suspension systems

2020 ◽  
pp. 107754632093374
Author(s):  
Pramod Sistla ◽  
Sheron Figarado ◽  
Krishnan Chemmangat ◽  
Narayan Suresh Manjarekar ◽  
Gangadharan Kallu Valappil
Keyword(s):  
Vibration Suppression ◽  
Sliding Mode ◽  
Active Suspension ◽  
Control Law ◽  
Linear Quadratic ◽  
Scaled Model ◽  
Suspension Systems ◽  
Active Suspension Systems ◽  
Special Cases ◽  
Passivity Based Control

This study presents the design of interconnection and damping assignment passivity-based control for active suspension systems. It is well known that interconnection and damping assignment passivity-based control’s design methodology is based on the physical properties of the system where the kinetic and potential energy profiles are shaped, and asymptotic stability is achieved by damping injection. Based on the choice of control variables, special cases of the control law are derived, and tuning of the control law with the physical meaning of the variables is demonstrated along with their simulation results. The proposed control law is experimentally validated on a scaled model of a quarter-car active suspension system with different road profiles, varying load conditions, and noise and delay in the sensor measurements and actuator respectively. The results are compared with that of an uncontrolled system with linear quadratic regulator and sliding mode control.

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