Modelling and Composite Control of Single Flexible Manipulators with Piezoelectric Actuators

Author:

Lu En1ORCID,Li Wei1ORCID,Yang Xuefeng1,Fan Mengbao1,Liu Yufei12

Affiliation:

1. School of Mechatronic Engineering, China University of Mining and Technology, Xuzhou 221116, China

2. School of Mechanical and Automotive Engineering, Anhui Polytechnic University, Wuhu 241000, China

Abstract

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.

Funder

National Natural Science Foundation of China

Publisher

Hindawi Limited

Subject

Mechanical Engineering,Mechanics of Materials,Geotechnical Engineering and Engineering Geology,Condensed Matter Physics,Civil and Structural Engineering

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2. High-Precision Tip Tracking of a Flexible Link Manipulator Using Two-Time Scale Adaptive Robust Control;IEEE/ASME Transactions on Mechatronics;2023-10

3. Tip Motion Control and Vibration Suppression of Rotary Flexible Manipulator with Piezoelectric Actuators;2023 WRC Symposium on Advanced Robotics and Automation (WRC SARA);2023-08-19

4. Adaptive Dynamic Programming-Based Cross-Scale Control of a Hydraulic-Driven Flexible Robotic Manipulator;Applied Sciences;2023-02-23

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