Modelling and Composite Control of Single Flexible Manipulators with Piezoelectric Actuators
The piezoelectric actuators are used to investigate the active vibration control of flexible manipulators in this paper. Based on the assumed mode method, piezoelectric coupling model, and Hamilton’s principle, the dynamic equation of the single flexible manipulator (SFM) with surface bonded actuato...
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| Main Authors: | , , , , |
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| Format: | Article |
| Language: | English |
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Wiley
2016-01-01
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| Series: | Shock and Vibration |
| Online Access: | http://dx.doi.org/10.1155/2016/2689178 |
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| _version_ | 1849403928229183488 |
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| author | En Lu Wei Li Xuefeng Yang Mengbao Fan Yufei Liu |
| author_facet | En Lu Wei Li Xuefeng Yang Mengbao Fan Yufei Liu |
| author_sort | En Lu |
| collection | DOAJ |
| description | The piezoelectric actuators are used to investigate the active vibration control of flexible manipulators in this paper. Based on the assumed mode method, piezoelectric coupling model, and Hamilton’s principle, the dynamic equation of the single flexible manipulator (SFM) with surface bonded actuators is established. Then, a singular perturbation model consisted of a slow subsystem and a fast subsystem is formulated and used for designing the composite controller. The slow subsystem controller is designed by fuzzy sliding mode control method, and the linear quadratic regulator (LQR) optimal control method is used to design fast subsystem controller. Furthermore, the changing trends of natural frequencies along with the changes in the position of piezoelectric actuators are obtained through the ANSYS Workbench software, by which the optimal placement of actuators is determined. Finally, numerical simulations and experiments are presented. The results demonstrate that the method of optimal placement is feasible based on the maximal natural frequency, and the composite controller presented in this paper can not only realize the trajectory tracking of the SFM and has a good result on the vibration suppression. |
| format | Article |
| id | doaj-art-97dbd8900d1549c3bf8dca61d4ffd907 |
| institution | Kabale University |
| issn | 1070-9622 1875-9203 |
| language | English |
| publishDate | 2016-01-01 |
| publisher | Wiley |
| record_format | Article |
| series | Shock and Vibration |
| spelling | doaj-art-97dbd8900d1549c3bf8dca61d4ffd9072025-08-20T03:37:08ZengWileyShock and Vibration1070-96221875-92032016-01-01201610.1155/2016/26891782689178Modelling and Composite Control of Single Flexible Manipulators with Piezoelectric ActuatorsEn Lu0Wei Li1Xuefeng Yang2Mengbao Fan3Yufei Liu4School of Mechatronic Engineering, China University of Mining and Technology, Xuzhou 221116, ChinaSchool of Mechatronic Engineering, China University of Mining and Technology, Xuzhou 221116, ChinaSchool of Mechatronic Engineering, China University of Mining and Technology, Xuzhou 221116, ChinaSchool of Mechatronic Engineering, China University of Mining and Technology, Xuzhou 221116, ChinaSchool of Mechatronic Engineering, China University of Mining and Technology, Xuzhou 221116, ChinaThe piezoelectric actuators are used to investigate the active vibration control of flexible manipulators in this paper. Based on the assumed mode method, piezoelectric coupling model, and Hamilton’s principle, the dynamic equation of the single flexible manipulator (SFM) with surface bonded actuators is established. Then, a singular perturbation model consisted of a slow subsystem and a fast subsystem is formulated and used for designing the composite controller. The slow subsystem controller is designed by fuzzy sliding mode control method, and the linear quadratic regulator (LQR) optimal control method is used to design fast subsystem controller. Furthermore, the changing trends of natural frequencies along with the changes in the position of piezoelectric actuators are obtained through the ANSYS Workbench software, by which the optimal placement of actuators is determined. Finally, numerical simulations and experiments are presented. The results demonstrate that the method of optimal placement is feasible based on the maximal natural frequency, and the composite controller presented in this paper can not only realize the trajectory tracking of the SFM and has a good result on the vibration suppression.http://dx.doi.org/10.1155/2016/2689178 |
| spellingShingle | En Lu Wei Li Xuefeng Yang Mengbao Fan Yufei Liu Modelling and Composite Control of Single Flexible Manipulators with Piezoelectric Actuators Shock and Vibration |
| title | Modelling and Composite Control of Single Flexible Manipulators with Piezoelectric Actuators |
| title_full | Modelling and Composite Control of Single Flexible Manipulators with Piezoelectric Actuators |
| title_fullStr | Modelling and Composite Control of Single Flexible Manipulators with Piezoelectric Actuators |
| title_full_unstemmed | Modelling and Composite Control of Single Flexible Manipulators with Piezoelectric Actuators |
| title_short | Modelling and Composite Control of Single Flexible Manipulators with Piezoelectric Actuators |
| title_sort | modelling and composite control of single flexible manipulators with piezoelectric actuators |
| url | http://dx.doi.org/10.1155/2016/2689178 |
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