Vibration control of a rotating two-connected flexible beam using chattering-free sliding mode controllers

Abstract

Two-connected flexible beam systems with rotating boundary conditions are widely used in spacecraft applications. The dynamics equation of the two-connected flexible beam system is obtained by using finite element method. Considering the connected parts in the rotating two-connected flexible beam, plate elements are used instead of beam elements for the finite element analysis. The optimal placement of piezoelectric sensors/actuators is studied using a singular value decomposition method. To suppress the excited vibration, a kind of fast terminal sliding mode (FTSM) control algorithm and a fuzzy fast terminal sliding mode (FFTSM) control algorithm are investigated. Also, a local linearization switching construction and a fuzzy logical adaptation system for feedback control gain are brought in FFTSM, to achieve a balance between the control performance and chattering phenomenon. A rotating two-connected flexible beam system is built up to simulate the vibration and control performance of the space flexible manipulator and solar panel under the expending and locking situation. Experiments on set-point vibration control, respectively driven by PZT actuators and AC motor torque using harmonic drive gear as speed reducer are conducted by utilizing the designed control algorithms, compared with the classical proportional derivative control algorithm. The experimental results demonstrate that the designed FTSM and FFTSM algorithms can significantly improve the vibration reduction performance and eliminate the chattering phenomenon effectively.

Intelligent Manipulator with Flexible Link and Joint: Modeling and Vibration Control

“…In fact, the rotation angle β changed constantly when the manipulator rotated. So, the reduced model should be rebuilt with equation (21). is results is…”

“…Generally, single-link manipulators were studied widely with the FE method [18], and the dynamic characteristics of the models were verified by experiments [19]. Furthermore, manipulators with two or more links were also analyzed employing the FE method [20,21]. An important purpose of dynamical analysis of flexible manipulators is to suppress the vibration of flexible structures [22,23].…”

“…For example, a linear quadratic Gaussian (LQG) method was applied to control a flexiblebeam structure subjected to external disturbance [24], an optimal tracking control theory was used for position control of a flexible hub-beam system [25], and an optimal placement of sensors and actuators distributed on flexible space structures [26]. Other control algorithms, such as robust control [21,27], sliding-surface constraint scheme, velocity feedback control, and fuzzy control [28][29][30], were also broadly used in controller design for manipulators. Almost all lightweight and large-scale manipulators have flexible arms, and joints of real-life manipulators are always flexible.…”

Vibration attenuation of a two-link flexible arm carried by a translational stage

“…Another method is to use a collocated actuator-and-sensor pair for vibration attenuation such as a piezoelectric actuator paired with a strain gauge (Chu and Cui, 2015; Lou et al., 2015), or a piezoelectric actuator paired with a laser displacement sensor/vibrometer (Saad et al., 2015; Omidi and Mahmoodi, 2016). Collocated piezoelectric sensor-and-actuator pairs were also commonly used in the literature (Qiu and Xu, 2016; Sangpet et al., 2017; Kant and Parameswaran, 2018). Such collocated or nearly-collocated vibration control is stabilizing for all flexible modes provided that the actuator dynamics is negligible.…”