Vibration control of a translational coupled double flexible beam system using sliding mode neural network fuzzy control

Qiu, Zhi-cheng; Chen, Siwen

doi:10.1177/01423312221081505

Cited by 5 publications

(3 citation statements)

References 42 publications

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“…In the visual measurement control of the alignment system, the camera needs to rotate to find the target due to the limitation of the angle of view. Therefore, the visual measurement module is also controlled by the fuzzy controller, and the control rule is the same as the controller of the discharge arm (Gongye et al, 2022; Jalali and Moghaddam, 2022; Qiu and Chen, 2022; Song et al, 2022).…”

Section: Methodsmentioning

confidence: 99%

An automatic alignment method for discharge arm of mobile crushing station based on binocular vision and fuzzy control

Guan

Wang

Chen

et al. 2022

Transactions of the Institute of Measurement and Control

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The mobile crushing station is one of the main equipment of the semi-continuous open-pit mining system. The discharge arm and the receiving equipment are manually aligned, which has the problems of long alignment time and low alignment accuracy, which affects the working efficiency of the mining system. According to the development and application of space rendezvous and docking technology at home and abroad, the advantages and disadvantages of different measurement methods are compared and analysed, and the method of applying binocular measurement technology to system positioning in the automatic alignment system of the discharge arm is determined. There are three movements in the mechanical part of the designed discharge arm alignment control system, including the rotary motion of the visual measurement mechanism and the horizontal rotation and telescopic motion of the discharge arm. According to the kinematic analysis and binocular vision measurement theory, the deviation model of the alignment control of the discharge arm is established. A binocular vision measurement and localization method based on the combination of stereo calibration and template matching is proposed, which achieves surprising measurement accuracy. An automatic alignment method of the discharge arm of the mobile crushing station is proposed based on the binocular vision and fuzzy control method. Its validity is verified by simulation and experiment. The strategy of motion decomposition is applied to the alignment system to avoid unnecessary motion of the discharge arm. The research results all show that the alignment method can achieve the angle deviation within ±0.5 degrees, the distance deviation within ±15 mm, and the test alignment time is about 5 minutes, which is better than other alignment control models; the alignment accuracy and the alignment time are improved by more than 50%. The method can control the discharge arm to complete the alignment task quickly and smoothly, which lays a foundation for the further automatic research of the discharge arm.

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Section: Methodsmentioning

confidence: 99%

An automatic alignment method for discharge arm of mobile crushing station based on binocular vision and fuzzy control

Guan

Wang

Chen

et al. 2022

Transactions of the Institute of Measurement and Control

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show abstract

“…The literature [18] proposes an adaptive fuzzy control strategy for single-link flexible joint robot (SFRM) with specific functions, in which fuzzy logic system is used to identify unknown nonlinear terms. The literature [19] studies a sliding mode neural network fuzzy control method to suppress the vibration of a double flexible beam system. In order to adjust the displacement and clamping force of flexible grippers, a hybrid force/position control strategy based on PID controller and fuzzy sliding mode controller was proposed in the literature [20].…”

Section: Introductionmentioning

confidence: 99%

Improved Vibration Suppression Strategy of Fuzzy PI Servo Control for Dual Flexible System with Flexible Joints

Liu

Wang

2023

Mathematics

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A high performance manipulator servo drive system is a double flexible system with flexible joints and flexible loads. Flexible joints are composed of elastic connecting elements, and flexible loads are flexible Euler beams with elastic deformation. The dual flexible system has highly nonlinear time-varying characteristics. This kind of characteristic will cause resonance of the double-flexible system and affect the dynamic characteristics of the system. In order to suppress the system resonance, the nonlinear dynamics model of the system with two flexible bodies is established. Then, the servo control method of double flexible body system is designed, and the range of PI controller parameters is determined by the same resistance pole assignment method. Then, a fuzzy control rule is designed to dynamically adjust PI controller parameters based on pole assignment. Finally, the improved fuzzy PI control strategy is simulated numerically. The simulation results show that the vibration of the double-flexible system can be effectively suppressed by establishing the precise dynamic model and designing PI controller parameters.

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“…The experimental results show that the controller significantly improves the vibration-suppression and ride quality of the vehicle [8]. Qiu Zhiqiang proposed a sliding-mode neural-network fuzzy control method to suppress the vibration of the coupled double-flexible-beam system, and experiments showed that the control method has advantages in suppressing the large amplitude and low amplitude of the coupled double-flexible-beam system [9]. To further improve the target-tracking efficiency of the snake robot, Liu Zhifan proposed an improved double-power-reaching law and verified the effectiveness and practicability of the proposed strategy through comparative analysis and simulation [10].…”

Section: Introductionmentioning

confidence: 99%

Adaptive End-Effector Buffeting Sliding Mode Control for Heavy-Duty Robots with Long Arms

Qin

Xiao

et al. 2023

Mathematics

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This study aims to resolve the problems of low precision, poor flexibility and unstable operation in the control performance of loading robots with long telescopic booms and heavy loads. Firstly, the kinematics and dynamics of long-arm heavy-duty robots are analyzed, and the dynamics model of a long-arm heavy-duty robot is established using the Lagrange method. A new power-hybrid sliding-mode approach law is proposed, and a hybrid force/position control strategy is used to control long-arm heavy-duty robots. The position control of long-arm heavy-duty robots uses a new sliding-mode adaptive control to improve the position accuracy of important joints, and PD control is used to force control the other joints. The two-stage telescopic arm is flexible and the long-arm heavy-load robot is simulated. The simulation results show that the long-arm heavy-load robot obtained using the improved sliding-mode adaptive control algorithm has good track-tracking and jitter-suppression effects. The new power-hybrid sliding-mode controller designed in this paper reduces the jitter amplitude of the end-effector of long-arm heavy-duty robots by 28.75%, 10.92% and 16.22%, respectively, compared with the existing new approach law sliding-mode controller. The simulation results show that the proposed power-hybrid reaching law sliding-mode controller can effectively reduce the amplitude difference of the end-effector. Finally, the force/position control strategy is combined with force-based impedance control, and the design process of impedance controller parameters is introduced, which provides a reference for the trajectory-tracking and vibration-suppression of end-effectors of long-arm heavy-duty robots.

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Vibration control of a translational coupled double flexible beam system using sliding mode neural network fuzzy control

Cited by 5 publications

References 42 publications

An automatic alignment method for discharge arm of mobile crushing station based on binocular vision and fuzzy control

An automatic alignment method for discharge arm of mobile crushing station based on binocular vision and fuzzy control

Improved Vibration Suppression Strategy of Fuzzy PI Servo Control for Dual Flexible System with Flexible Joints

Adaptive End-Effector Buffeting Sliding Mode Control for Heavy-Duty Robots with Long Arms

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