DEVELOPMENT OF DYNAMIC MODEL FOR VIBRATION CONTROL OF FLEXIBLE BEAM

The flexible manipulato is widely used in the aerospace industry and various other special fields. Control accuracy is affected by the flexibility, joint friction, and terminal load. Therefore, this paper establishes a robot dynamics model under the coupling effect of flexibility, friction, and terminal load, and analyzes and studies its control. First of all, taking the structure of the central rigid body, the flexible beam, and load as the research object, the dynamic model of a flexible manipulator with terminal load is established by using the hypothesis mode and the Lagrange method. Based on the balance principle of the force and moment, the friction under the influence of flexibility and load is recalculated, and the dynamic model of the manipulator is further improved. Secondly, the coupled dynamic system is decomposed and the controller is designed by the multivariable feedback controller. Finally, using MATLAB as the simulation platform, the feasibility of dynamic simulation is verified through simulation comparison. The results show that the vibration amplitude can be reduced with the increase of friction coefficient. As the load increases, the vibration can increase further. The trajectory tracking and vibration suppression of the manipulator are effective under the control method of multi-feedback moment calculation. The research is of great significance to the control of flexible robots under the influence of multiple factors.

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Vibration control of a flexible beam structure using squeeze-mode ER mount

Journal of Sound and Vibration ◽

10.1016/s0022-460x(03)00478-4 ◽

2004 ◽

Vol 273 (1-2) ◽

pp. 185-199 ◽

Cited By ~ 32

Author(s):

W.J. Jung ◽

W.B. Jeong ◽

S.R. Hong ◽

S.-B. Choi

Keyword(s):

Vibration Control ◽

Flexible Beam ◽

Beam Structure

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An Experimental Study of Tendon Vibration Control System for Flexible Space Structures

13th Biennial Conference on Mechanical Vibration and Noise: Structural Vibration and Acoustics ◽

10.1115/detc1991-0190 ◽

1991 ◽

Author(s):

Yoshisada Murotsu ◽

Hiroshi Okubo ◽

Kei Senda

Keyword(s):

Mathematical Model ◽

Control System ◽

Vibration Control ◽

Transfer Functions ◽

Mimo Systems ◽

Experimental System ◽

Space Structures ◽

Flexible Beam ◽

Tendon Vibration ◽

Large Space

Abstract The idea of a tendon vibration control system for a beam-like flexible space structure has been proposed. To verify the feasibility of the concept, an experimental tendon control system has been constructed for the vibration control of a flexible beam simulating Large Space Structures (LSS). This paper discusses modeling, identification, actuator disposition, and controller design for the experimental system. First, a mathematical model of the whole system of the beam and tendon actuator is developed through a finite element method (FEM). Second, to obtain an accurate mathematical model for designing a controller, unknown characteristic parameters are estimated by using an output error method. The validity of the proposed identification scheme is demonstrated by good agreement between the transfer functions of the experimental system and an identified model. Then, disposition of actuators is discussed by using the modal cost analysis. Finally, controllers are designed for SISO and MIMO systems. The feasibility of the proposed controller is verified through numerical simulation and hardware experiments.

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EXPERIMENTAL STUDY ON VIBRATION CONTROL OF SHAPE MEMORY ALLOY ACTUATED FLEXIBLE BEAM

International Journal on Smart Sensing and Intelligent Systems ◽

10.21307/ijssis-2017-387 ◽

2010 ◽

Vol 3 (2) ◽

pp. 156-175 ◽

Cited By ~ 4

Author(s):

K. Dhanalakshmi ◽

Aditya Avinash ◽

M. Umapathy ◽

M. Marimuthu

Keyword(s):

Experimental Study ◽

Shape Memory Alloy ◽

Shape Memory ◽

Vibration Control ◽

Flexible Beam

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Vibration Response and Power Flow Characteristics of a Flexible Manipulator with a Moving Base

Shock and Vibration ◽

10.1155/2015/589507 ◽

2015 ◽

Vol 2015 ◽

pp. 1-8 ◽

Cited By ~ 5

Author(s):

Yufei Liu ◽

Wei Li ◽

Xuefeng Yang ◽

Mengbao Fan ◽

Yuqiao Wang ◽

...

Keyword(s):

Dynamic Model ◽

Power Flow ◽

Flow Characteristics ◽

Flexible Manipulator ◽

Rigid Base ◽

Flexible Beam ◽

Noticeable Effect ◽

Moving Base ◽

Vibration Responses ◽

Motion Characteristics

Flexible manipulator generally can be modeled as a coupling system with a flexible beam and a rigid moving base. This paper investigates the vibration responses and power flow of a flexible manipulator with a moving base (FMMB). Considering the motion characteristics of the rigid base, the moving base is modeled to have a motion with disturbances, and the dynamic model of the FMMB is established. With the dynamic model, vibration responses of the FMMB for the rigid base having disturbance velocities and accelerations are specifically presented. Subsequently, to investigate the effect of the disturbances on the vibration energy distributions of the FMMB, power flow of the FMMB is exhibited. To verify the dynamic model, an ADAMS physical model of the FMMB is constructed. It reveals that the motion characteristics of the rigid base have a noticeable effect on the vibration responses and power flow of the FMMB and should be considered. The results are significant and contribute to the vibration control of flexible manipulators.

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Comparison of Active and Hybrid Vibration Confinement With Conventional Active Vibration Control

Volume 7B: 17th Biennial Conference on Mechanical Vibration and Noise ◽

10.1115/detc99/vib-8303 ◽

1999 ◽

Author(s):

Lawrence R. Corr ◽

William W. Clark

Keyword(s):

Vibration Control ◽

Control Method ◽

Numerical Study ◽

Active Vibration Control ◽

Piezoelectric Actuators ◽

Control Technique ◽

Flexible Beam ◽

Velocity Feedback ◽

Active Vibration ◽

Piezoelectric Actuators And Sensors

Abstract This paper presents a numerical study in which active and hybrid vibration confinement is compared with a conventional active vibration control method. Vibration confinement is a vibration control technique that is based on reshaping structural modes to produce “quiet areas” in a structure as opposed to adding damping as in conventional active or passive methods. In this paper, active and hybrid confinement is achieved in a flexible beam with two pairs of piezoelectric actuators and sensors and with two vibration absorbers. For comparison purposes, active damping is achieved also with two pairs of piezoelectric actuators and sensors using direct velocity feedback. The results show that both approaches are effective in controlling vibrations in the targeted area of the beam, with direct velocity feedback being slightly more cost effective in terms of required power. When combined with passive confinement, however, each method is improved with a significant reduction in required power.

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