Dynamic modeling and adaptive vibration suppression of a high-speed macro-micro manipulator

Yang, Yiling; Wei, Yanding; Lou, Junqiang; Fu, Lei; Fang, Sheng; Chen, Tehuan

doi:10.1016/j.jsv.2018.02.034

Cited by 42 publications

(14 citation statements)

References 55 publications

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“…Passive control uses damping materials and intelligent materials to suppress vibration, has low cost and does not require an external energy system, but it cannot make real-time adjustments according to external excitation [20]. In the 1990s, a variety of active control methods were developed for vibration control of flexible manipulators, such as adaptive control, variable structure sliding mode control, and fuzzy and neural network control [21]- [23]. Adaptive control has good performance in suppressing the vibration of a system with serious parameter uncertainty.…”

Section: Introductionmentioning

confidence: 99%

Dynamic Modeling and Vibration Suppression for Two-Link Underwater Flexible Manipulators

et al. 2022

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This paper proposes a composite controller (CC) to improve the accuracy of trajectory tracking and suppress the vibration of two-link underwater flexible manipulators. A dynamic model of the flexible manipulators considering hydrodynamic force is established by combining the Lagrange equation and Morison formula. Then, the dynamic model is divided into a flexible dynamic subsystem and rigid dynamic subsystem, and a decomposed dynamic control strategy is presented for the two subsystems. In particular, an adaptive fuzzy sliding mode control scheme (AFSMC) with good robustness to compensate for uncertain factors is designed to track the joint trajectory and suppress vibration. Next, the trajectory tracking control of two-link underwater flexible manipulators is simulated to investigate the performance of the framework. The results show that the hydrodynamic force and flexible deformation markedly affect the input torque of the joint, and the traditional sliding mode controller (SMC) is superior to proportional integral derivative (PID) control in managing hydrodynamic force disturbance and inferior in suppressing flexible vibration. The proposed composite controller based on adaptive fuzzy sliding mode control CC(AFSMC) is more effective in restraining the vibration of flexible manipulators and resisting hydrodynamic force disturbance than PID and CC(SMC).

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Section: Introductionmentioning

confidence: 99%

Dynamic Modeling and Vibration Suppression for Two-Link Underwater Flexible Manipulators

et al. 2022

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“…A selection of the A/D boards is not dependent on the kind of used piezoelectric material, so A/D boards are the same for the actuators based on PZT and actuators based on MFC. Control algorithms used for actuators based on PZT are also used for the actuators based on MFC: algorithms based on a linear function, e.g., PID [18], algorithms based on a state space, e.g., LQR [15], algorithms based on fuzzy functions, e.g., [19] and algorithms based on genetic methods, e.g., [20].…”

Section: Introductionmentioning

confidence: 99%

Control System for Multi-Input and Simple-Output Piezoelectric Beam Actuator Based on Macro Fiber Composite

Grzybek

2022

Energies

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A control system for a piezoelectric beam actuator, which had one or two control inputs, was a subject of numerical and laboratory research. The actuator had a prismatic shape with a rectangular cross-section and consisted of one layer of carrying substrate made from PCB-FR4 and two patches of Macro Fiber Composite of P1 type. MFC patches were glued on both sides of the carrying substrate. An article presents a comparison of the control quality of piezoelectric actuator with one control signal (one-input actuator) and the control quality of piezoelectric actuator with two control signals (two-input actuator). An application of two-input actuator led to a reduction of control voltage compared to the control voltage of one-input actuator. The decrease in the maximum voltage was approximately from 30% to 39% in conducted laboratory experiments. An application of two-input actuator causes a reduction of an overshoot value compared to one-input actuator. An application of limit of maximum control voltage leads to a greater decrease of the control quality for one-input actuator compared to two-input actuator.

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“…As for the problem of flexible vibration, the active vibration suppression method becomes the major solution because of its advantages of feasibility and adaption. 25 They are categorized as feedback control, feedforward control and trajectory planning. In 26 and, 27 the feedback controllers are designed based on Lyapunov theory to maneuver spacecrafts while eliminating flexible vibrations.…”

Section: Introductionmentioning

confidence: 99%

Detumbling motion planning for the space manipulator with grasped targets and flexible appendages in the post-capturing phase

Zhan

Jin

et al. 2022

Proceedings of the Institution of Mechanical Engineers, Part G:

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This paper proposes a detumbling motion planning algorithm for free-flying space manipulator with a grasped tumbling target in the post-capturing phase. This algorithm can not only collision-freely guide the space manipulator and the target to terminal stationary states but also suppress the residual vibration of the flexible appendage on the space manipulator. First, considering the avoidances of self-collisions and motion singularities, a smooth detumbling path is planned for the space manipulator by a proposed smoothing rapid random tree star algorithm (SM-RRT*). Second, a quintic polynomial function is implemented to generate a continuous detumbling trajectory along the detumbling path. Then, with the object of minimizing the residual flexible vibrations and the constrains of joint acceleration limits, an optimization model is established to refine the detumbling trajectory. Finally, the optimization model is solved by an improved particle swarm optimization algorithm (PSO), where a potential field term is included in the generation of the particle velocity to enhance the computational efficiency. Simulation results validate the effectiveness of the proposed detumbling motion planning algorithm.

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Dynamic modeling and adaptive vibration suppression of a high-speed macro-micro manipulator

Cited by 42 publications

References 55 publications

Dynamic Modeling and Vibration Suppression for Two-Link Underwater Flexible Manipulators

Dynamic Modeling and Vibration Suppression for Two-Link Underwater Flexible Manipulators

Control System for Multi-Input and Simple-Output Piezoelectric Beam Actuator Based on Macro Fiber Composite

Detumbling motion planning for the space manipulator with grasped targets and flexible appendages in the post-capturing phase

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