FEM dynamic model for active vibration control of flexible linkages and its application to a planar parallel manipulator

2005 ◽  
Vol 66 (10) ◽  
pp. 1151-1161 ◽  
Author(s):  
Xiaoyun Wang ◽  
James K. Mills
Keyword(s):  
Vibration Control ◽  
Dynamic Model ◽  
Parallel Manipulator ◽  
Active Vibration Control ◽  
Planar Parallel Manipulator ◽  
Active Vibration

scholarly journals Experimental Active Vibration Control in Truss Structures Considering Uncertainties in System Parameters

2008 ◽  
Vol 2008 ◽  
pp. 1-14 ◽  
Author(s):  
Douglas Domingues Bueno ◽  
Clayton Rodrigo Marqui ◽  
Rodrigo Borges Santos ◽  
Camilo Mesquita Neto ◽  
Vicente Lopes
Keyword(s):  
Vibration Control ◽  
Dynamic Model ◽  
Electromechanical Coupling ◽  
Active Vibration Control ◽  
Experimental Methodology ◽  
Truss Structures ◽  
Linear Matrix ◽  
System Parameters ◽  
Identification Method ◽  
Active Vibration

This paper deals with the study of algorithms for robust active vibration control in flexible structures considering uncertainties in system parameters. It became an area of enormous interest, mainly due to the countless demands of optimal performance in mechanical systems as aircraft, aerospace, and automotive structures. An important and difficult problem for designing active vibration control is to get a representative dynamic model. Generally, this model can be obtained using finite element method (FEM) or an identification method using experimental data. Actuators and sensors may affect the dynamics properties of the structure, for instance, electromechanical coupling of piezoelectric material must be considered in FEM formulation for flexible and lightly damping structure. The nonlinearities and uncertainties involved in these structures make it a difficult task, mainly for complex structures as spatial truss structures. On the other hand, by using an identification method, it is possible to obtain the dynamic model represented through a state space realization considering this coupling. This paper proposes an experimental methodology for vibration control in a 3D truss structure using PZT wafer stacks and a robust control algorithm solved by linear matrix inequalities.

Modeling and Control Analysis of a 3-PUPU Dual Compliant Parallel Manipulator for Micro Positioning and Active Vibration Isolation

2011 ◽  
Vol 134 (2) ◽  
Author(s):  
Y. Yun ◽  
Y. Li
Keyword(s):  
Vibration Control ◽  
Parallel Manipulator ◽  
Vibration Isolation ◽  
Active Vibration Control ◽  
Parallel Robots ◽  
Control Analysis ◽  
Isolation System ◽  
Wide Range ◽  
Active Vibration ◽  
Active Vibration Isolation

In recent years, many applications in precision engineering require a careful isolation of the instrument from the vibration sources by adopting active vibration isolation system to achieve a very low remaining vibration level, especially for the very low frequency under 10 Hz vibration signals. This paper presents a 3-PUPU dual parallel manipulator for both rough positioning and active vibration isolation in a wide-range workspace based on our previous research experiences in the systematical modeling and study of parallel robots. The manipulator is designed as a kind of macro/micro hybrid robot. Both the kinematics model for macro motion and dynamics model for micro motion are established by using stiffness equation and the Kane’s method, respectively. An active vibration control strategy is described by using the H2 method. Moreover, numerical simulations on the inverse solution for macro motion, workspace, and the active vibration control effects are performed at the end of this paper.

Substructuring Dynamic Modeling and Active Vibration Control of a Smart Parallel Platform

2004 ◽  
Author(s):  
Xiaoyun Wang ◽  
James K. Mills
Keyword(s):  
Vibration Control ◽  
Dynamic Model ◽  
Motion Control ◽  
Dynamic Models ◽  
Active Vibration Control ◽  
System Dynamic ◽  
Control Law ◽  
Active Vibration ◽  
Parallel Platform ◽  
Simulation Results

A substructuring approach to derive dynamic models for closed-loop mechanisms is applied to model a flexible-link planar parallel platform with Lead Zirconate Titanate (PZT) transducers. The Lagrangian Finite Element (FE) formulation is used to model flexible linkages, in which translational and rotary degrees of freedom exist. Craig-Bampton mode sets are extracted from these FE models and then used to assemble the dynamic model of the planar parallel platform through the application of Lagrange’s equation and the Lagrange multiplier method. Electromechanical coupling models of surface-bonded PZT transducers with the host flexible linkages are introduced to the reduced order dynamic models of flexible linkages. The assembled system dynamic model with moderate model order can represent essential system dynamic behavior and maintain kinematic relationships of the planar parallel platform. A Proportional, Integral, and Derivative (PID) control law is used as the motion control law. Strain rate feedback (SRF) active vibration control is selected as the vibration control law. Motion control simulation results with active vibration control and simulation results without active vibration control are compared. The comparison shows the effectiveness of active vibration control.

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

2014 ◽  
Vol 2014 ◽  
pp. 1-10 ◽  
Author(s):  
Quan Zhang ◽  
Jiamei Jin ◽  
Jianhui Zhang ◽  
Chunsheng Zhao
Keyword(s):  
Vibration Control ◽  
Dynamic Model ◽  
Parallel Manipulator ◽  
Vibration Suppression ◽  
Modal Control ◽  
Flexible Links ◽  
Vibration Sensors ◽  
Active Vibration Suppression ◽  
Active Vibration ◽  
Assumed Mode

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.

Dynamic model and active vibration control of a membrane antenna structure

2017 ◽  
Vol 24 (18) ◽  
pp. 4282-4296 ◽  
Author(s):  
Xiang Liu ◽  
Guoping Cai ◽  
Fujun Peng ◽  
Hua Zhang
Keyword(s):  
Vibration Control ◽  
Dynamic Model ◽  
Active Vibration Control ◽  
Piezoelectric Actuators ◽  
Dynamic Responses ◽  
Linear Quadratic ◽  
Particle Swarm Optimizer ◽  
Control Cost ◽  
Antenna Structure ◽  
Active Vibration

This paper studies a dynamic model and active vibration control of a membrane antenna structure. Based on the finite element method (FEM), the dynamic model of the membrane antenna structure is established. Piezoelectric actuators are used to suppress the vibration of the structure and their optimal locations on the membrane are determined using the optimization method, where an efficient numerical criterion depended on controllability Grammian is used as optimization criterion and the particle swarm optimizer (PSO) is used as optimization algorithm. Active controllers are designed by the classical linear quadratic regulator (LQR) method. Simulation results indicate that the vibration modes and dynamic responses obtained by the dynamic model established in this paper coincide well with the results of the software ABAQUS; vibration of the structure can be suppressed effectively by the piezoelectric actuators, and optimal placed actuators not only can produce better control effectiveness but also need smaller control cost.

Active Vibration Control of a 3-PRR Flexible Parallel Manipulator With PZT Actuators and Sensors

2008 ◽  
Author(s):  
Xuping Zhang ◽  
James K. Mills ◽  
William L. Cleghorn
Keyword(s):  
Vibration Control ◽  
Lead Zirconate Titanate ◽  
Control Strategy ◽  
Parallel Manipulator ◽  
Active Vibration Control ◽  
Structural Vibration ◽  
Mode Shapes ◽  
Control Input ◽  
Flexible Links ◽  
Active Vibration

This paper presents an experimental study on active vibration control of a moving 3-PRR parallel manipulator with three flexible intermediate links, with bonded lead zirconate titanate (PZT) actuators and sensors. Experimental modal tests are conducted to identify structural vibration mode shapes and natural frequencies used. These modal tests provide guidance to design the filter and determine the location of PZT transducers. A PZT actuator controller is developed based on strain rate feedback (SRF) control. A state-space model is formulated with the control input voltage applied to PZT actuators, and output generated from PZT sensors. Then, the design of an optimal active vibration controller is presented based on SRF for the parallel manipulator with flexible links with multiple bonded PZT transducers. Active vibration control experiments are conducted to demonstrate that the proposed active vibration control strategy is effective. Power spectral density (PSD) plots of vibrations illustrate that the structural vibration of flexible links is reduced effectively when the proposed vibration control strategy is employed.

scholarly journals Dynamic Model and Vibration Characteristics of Planar 3-RRR Parallel Manipulator with Flexible Intermediate Links considering Exact Boundary Conditions

2017 ◽  
Vol 2017 ◽  
pp. 1-13 ◽  
Author(s):  
Lianchao Sheng ◽  
Wei Li ◽  
Yuqiao Wang ◽  
Mengbao Fan ◽  
Xuefeng Yang
Keyword(s):  
Dynamic Model ◽  
Parallel Manipulator ◽  
High Efficiency ◽  
Active Vibration Control ◽  
Control Program ◽  
Vibration Modes ◽  
Exact Boundary ◽  
Model Control ◽  
Active Vibration ◽  
The Moment

Due to the complexity of the dynamic model of a planar 3-RRR flexible parallel manipulator (FPM), it is often difficult to achieve active vibration control algorithm based on the system dynamic model. To establish a simple and efficient dynamic model of the planar 3-RRR FPM to study its dynamic characteristics and build a controller conveniently, firstly, considering the effect of rigid-flexible coupling and the moment of inertia at the end of the flexible intermediate link, the modal function is determined with the pinned-free boundary condition. Then, considering the main vibration modes of the system, a high-efficiency coupling dynamic model is established on the basis of guaranteeing the model control accuracy. According to the model, the modal characteristics of the flexible intermediate link are analyzed and compared with the modal test results. The results show that the model can effectively reflect the main vibration modes of the planar 3-RRR FPM; in addition the model can be used to analyze the effects of inertial and coupling forces on the dynamics model and the drive torque of the drive motor. Because this model is of the less dynamic parameters, it is convenient to carry out the control program.

scholarly journals Active Vibration Control and Coupled Vibration Analysis of a Parallel Manipulator with Multiple Flexible Links

2016 ◽  
Vol 2016 ◽  
pp. 1-19 ◽  
Author(s):  
Quan Zhang ◽  
Chaodong Li ◽  
Jiantao Zhang ◽  
Jiamei Jin
Keyword(s):  
Vibration Control ◽  
Vibration Analysis ◽  
Parallel Manipulator ◽  
Dynamic Models ◽  
Vibration Suppression ◽  
Active Vibration Control ◽  
Coupled Vibration ◽  
Flexible Links ◽  
Active Vibration ◽  
The One

This paper addresses the active vibration control and coupled vibration analysis of a planar parallel manipulator (PPM) with three flexible links. Multiple piezoelectric ceramic transducers are integrated with the flexible links to constitute the smart beam structures, and hence the vibration of the flexible link can be self-sensed and self-controlled. To prevent the spillover phenomena and improve the vibration control efficiency, the independent modal space control combined with an input shaper is developed to suppress both the structural and the residual vibration of the flexible links. The coupled vibration features between rigid and elastic motions and the interaction effects among three flexible links are theoretically analyzed based on the one-pass rigid-flexible dynamic models. Numerical simulation and experiment results show that the vibration of the three flexible links is coupled through the moving platform and the vibration suppression efficiency is getting improved with the number of controlled flexible links increased.

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