DOI QR코드

DOI QR Code

Simultaneous precision positioning and vibration suppression of reciprocating flexible manipulators

  • Ma, Kougen (Intelligent and Composite Materials Laboratory, Department of Mechanical Engineering, University of Hawaii at Manoa) ;
  • Ghasemi-Nejhad, Mehrdad N. (Intelligent and Composite Materials Laboratory, Department of Mechanical Engineering, University of Hawaii at Manoa)
  • 투고 : 2003.10.23
  • 심사 : 2004.07.27
  • 발행 : 2005.01.25

초록

Simultaneous precision positioning and vibration suppression of a reciprocating flexible manipulator is investigated in this paper. The flexible manipulator is driven by a multifunctional active strut with fuzzy logic controllers. The multifunctional active strut is a combination of a motor assembly and a piezoelectric stack actuator to simultaneously provide precision positioning and wide frequency bandwidth vibration suppression capabilities. First, the multifunctional active strut and the flexible manipulator are introduced, and their dynamic models are derived. A control strategy is then proposed, which includes a position controller and a vibration controller to achieve simultaneous precision positioning and vibration suppression of the flexible manipulator. Next, fuzzy logic control approach is presented to design a fuzzy logic position controller and a fuzzy logic vibration controller. Finally, experiments are conducted for the fuzzy logic controllers and the experimental results are compared with those from a PID control scheme consisting of a PID position controller and a PID vibration control. The comparison indicates that the fuzzy logic controller can easily handle the non-linearity in the strut and provide higher position accuracy and better vibration reduction with less control power consumption.

키워드

과제정보

연구 과제 주관 기관 : Office of Naval Research

참고문헌

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피인용 문헌

  1. Finite Element Method for Active Vibration Suppression of Smart Composite Structures using Piezoelectric Materials vol.19, pp.3, 2006, https://doi.org/10.1177/0892705706062193
  2. Adaptive input shaping and control for simultaneous precision positioning and vibration suppression of smart composite plates vol.16, pp.5, 2007, https://doi.org/10.1088/0964-1726/16/5/043
  3. Adaptive Control of Flexible Active Composite Manipulators Driven by Piezoelectric Patches and Active Struts With Dead Zones vol.16, pp.5, 2008, https://doi.org/10.1109/TCST.2007.916337
  4. Functionally upgraded passive devices for seismic response reduction vol.4, pp.6, 2008, https://doi.org/10.12989/sss.2008.4.6.741