Active Vibration Suppression of a 3-DOF Flexible Parallel Manipulator Using Efficient Modal Control

This paper addresses the dynamic modeling and efficient modal control of a planar parallel manipulator (PPM) with three flexible linkages actuated by linear ultrasonic motors (LUSM). To achieve active vibration control, multiple lead zirconate titanate (PZT) transducers are mounted on the flexible l...

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Main Authors: Quan Zhang, Jiamei Jin, Jianhui Zhang, Chunsheng Zhao
Format: Article
Language:English
Published: Wiley 2014-01-01
Series:Shock and Vibration
Online Access:http://dx.doi.org/10.1155/2014/953694
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author Quan Zhang
Jiamei Jin
Jianhui Zhang
Chunsheng Zhao
author_facet Quan Zhang
Jiamei Jin
Jianhui Zhang
Chunsheng Zhao
author_sort Quan Zhang
collection DOAJ
description This paper addresses the dynamic modeling and efficient modal control of a planar parallel manipulator (PPM) with three flexible linkages actuated by linear ultrasonic motors (LUSM). To achieve active vibration control, multiple lead zirconate titanate (PZT) transducers are mounted on the flexible links as vibration sensors and actuators. Based on Lagrange’s equations, the dynamic model of the flexible links is derived with the dynamics of PZT actuators incorporated. Using the assumed mode method (AMM), the elastic motion of the flexible links are discretized under the assumptions of pinned-free boundary conditions, and the assumed mode shapes are validated through experimental modal test. Efficient modal control (EMC), in which the feedback forces in different modes are determined according to the vibration amplitude or energy of their own, is employed to control the PZT actuators to realize active vibration suppression. Modal filters are developed to extract the modal displacements and velocities from the vibration sensors. Numerical simulation and vibration control experiments are conducted to verify the proposed dynamic model and controller. The results show that the EMC method has the capability of suppressing multimode vibration simultaneously, and both the structural and residual vibrations of the flexible links are effectively suppressed using EMC approach.
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institution Kabale University
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spelling doaj-art-651fd197855640ddbda2ea23a50e7fa82025-02-03T01:10:06ZengWileyShock and Vibration1070-96221875-92032014-01-01201410.1155/2014/953694953694Active Vibration Suppression of a 3-DOF Flexible Parallel Manipulator Using Efficient Modal ControlQuan Zhang0Jiamei Jin1Jianhui Zhang2Chunsheng Zhao3State Key Laboratory of Mechanics and Control of Mechanical Structures, Nanjing University of Aeronautics and Astronautics, Nanjing 210016, ChinaState Key Laboratory of Mechanics and Control of Mechanical Structures, Nanjing University of Aeronautics and Astronautics, Nanjing 210016, ChinaState Key Laboratory of Mechanics and Control of Mechanical Structures, Nanjing University of Aeronautics and Astronautics, Nanjing 210016, ChinaState Key Laboratory of Mechanics and Control of Mechanical Structures, Nanjing University of Aeronautics and Astronautics, Nanjing 210016, ChinaThis paper addresses the dynamic modeling and efficient modal control of a planar parallel manipulator (PPM) with three flexible linkages actuated by linear ultrasonic motors (LUSM). To achieve active vibration control, multiple lead zirconate titanate (PZT) transducers are mounted on the flexible links as vibration sensors and actuators. Based on Lagrange’s equations, the dynamic model of the flexible links is derived with the dynamics of PZT actuators incorporated. Using the assumed mode method (AMM), the elastic motion of the flexible links are discretized under the assumptions of pinned-free boundary conditions, and the assumed mode shapes are validated through experimental modal test. Efficient modal control (EMC), in which the feedback forces in different modes are determined according to the vibration amplitude or energy of their own, is employed to control the PZT actuators to realize active vibration suppression. Modal filters are developed to extract the modal displacements and velocities from the vibration sensors. Numerical simulation and vibration control experiments are conducted to verify the proposed dynamic model and controller. The results show that the EMC method has the capability of suppressing multimode vibration simultaneously, and both the structural and residual vibrations of the flexible links are effectively suppressed using EMC approach.http://dx.doi.org/10.1155/2014/953694
spellingShingle Quan Zhang
Jiamei Jin
Jianhui Zhang
Chunsheng Zhao
Active Vibration Suppression of a 3-DOF Flexible Parallel Manipulator Using Efficient Modal Control
Shock and Vibration
title Active Vibration Suppression of a 3-DOF Flexible Parallel Manipulator Using Efficient Modal Control
title_full Active Vibration Suppression of a 3-DOF Flexible Parallel Manipulator Using Efficient Modal Control
title_fullStr Active Vibration Suppression of a 3-DOF Flexible Parallel Manipulator Using Efficient Modal Control
title_full_unstemmed Active Vibration Suppression of a 3-DOF Flexible Parallel Manipulator Using Efficient Modal Control
title_short Active Vibration Suppression of a 3-DOF Flexible Parallel Manipulator Using Efficient Modal Control
title_sort active vibration suppression of a 3 dof flexible parallel manipulator using efficient modal control
url http://dx.doi.org/10.1155/2014/953694
work_keys_str_mv AT quanzhang activevibrationsuppressionofa3dofflexibleparallelmanipulatorusingefficientmodalcontrol
AT jiameijin activevibrationsuppressionofa3dofflexibleparallelmanipulatorusingefficientmodalcontrol
AT jianhuizhang activevibrationsuppressionofa3dofflexibleparallelmanipulatorusingefficientmodalcontrol
AT chunshengzhao activevibrationsuppressionofa3dofflexibleparallelmanipulatorusingefficientmodalcontrol