Dynamic Modeling and Vibration Control of a Space Flexible Manipulator Using Piezoelectric Actuators and Sensors

2011 ◽  
Vol 345 ◽  
pp. 46-52 ◽  
Author(s):  
Jun Qiang Lou ◽  
Yan Ding Wei
Keyword(s):  
Vibration Control ◽  
Dynamic Modeling ◽  
Vibration Suppression ◽  
Equations Of Motion ◽  
Linear Quadratic Regulator ◽  
Flexible Manipulator ◽  
Coupled Vibration ◽  
Linear Quadratic ◽  
Space Manipulator ◽  
Tip Mass

This paper concerns the dynamic modeling and vibration control of a space two-link flexible manipulator. Two types of PZT actuators, PZT shear actuator and torsional actuator, are used to suppress the bending-torsional-coupled vibration of the space manipulator. Using extended Hamilton’s principle and the finite element method, equations of motion of the space flexible manipulator with PZT actuators and tip mass are obtained. Based on modal analyze theory, the state space model of the system is then used to design the control system. A linear quadratic regulator (LQR) controller is designed to achieve vibration suppression of the space manipulator system. From the numerical results, we can get that the proposed controller has a suitable and efficient performance suppressing the bending-torsional-coupled vibration of the space two-link flexible manipulator.

Active Vibration Control of the Print Circuit Boards Using Piezoelectric Bimorphs

2007 ◽  
Vol 334-335 ◽  
pp. 1081-1084
Author(s):  
H.C. Yeo ◽  
N. Guo ◽  
H. Du ◽  
M. Chen
Keyword(s):  
Vibration Control ◽  
Vibration Suppression ◽  
Active Vibration Control ◽  
Linear Quadratic Regulator ◽  
Circuit Boards ◽  
Linear Quadratic ◽  
Industrial Grade ◽  
Active Vibration ◽  
Bimorph Actuators ◽  
Piezoelectric Bimorphs

Piezoelectric bimorphs were assessed for their capabilities to be used as control actuators for vibration suppression of the print circuit boards (PCBs). Plate structures made of FR-4, a widely used industrial-grade material for manufacture of PCBs, were considered. An advanced and structured control algorithm, linear quadratic regulator with output feedback (LQROF), was used for active vibration control of the PCB structures. Experimental results showed that the LQROF control is a more robust algorithm than the classic control using the direct velocity feedback, and piezoelectric bimorph actuators present a great potential for active vibration control of the PCBs, and smart composites with embedded actuators.

scholarly journals Robustness of the Active Rotary Inertia Driver System for Structural Swing Vibration Control Subjected to Multi-Type Hazard Excitations

2019 ◽  
Vol 9 (20) ◽  
pp. 4391 ◽  
Author(s):  
Chunwei Zhang ◽  
Hao Wang
Keyword(s):  
Control System ◽  
Vibration Control ◽  
Equations Of Motion ◽  
Linear Quadratic Regulator ◽  
Numerical Analyses ◽  
Rotary Inertia ◽  
Experimental Investigations ◽  
Linear Quadratic ◽  
Earthquake Excitation ◽  
Mass Damper

In traditional structural disaster prevention design, the effects of various disasters on structures are usually considered separately, and the effects of multi-type hazards are rarely considered. The traditional Tuned Mass Damper (TMD) and Active Mass Damper/Driver (AMD) are ineffective for the control of swing vibration. The Tuned Rotary Inertia Damper (TRID) system has the problems of being ineffective under multi-type hazard excitation and exhibiting a limited robustness. The Active Rotary Inertia Driver (ARID) system is proposed to solve these problems and the robustness of such an active control system is investigated in this paper. Firstly, the equations of motion corresponding to the in-plane swing vibration of the suspended structure with the ARID/TRID system are established. The control algorithm for the ARID system is designed based on the Linear Quadratic Regulator (LQR) algorithm. Next, numerical analyses carried out using Simulink are presented. Then, numerical analyses and experimental investigations corresponding to five working conditions, i.e., free vibration, forced vibration, sweep excitation, earthquake excitation, and sea wave excitation, are introduced. Lastly, the numerical analyses and experimental results of the ARID system, and numerical results of the TRID system, are compared to demonstrate the effectiveness and robustness of the ARID control system. It can be concluded that the ARID system is effective and feasible in structural swing vibration control and it exhibits a better control robustness than the TRID system. Furthermore, the feasibility of applying the ARID control system to multi-type hazard excitations is validated.

Comparison of Control Methods for Two-Link Planar Flexible Manipulator

2017 ◽  
Author(s):  
Joseph Bowkett ◽  
Rudranarayan Mukherjee
Keyword(s):  
Position Control ◽  
Linear Quadratic Regulator ◽  
Flexible Manipulator ◽  
Linear Quadratic ◽  
Large Space ◽  
Loop Control ◽  
Command Shaping ◽  
Aerospace Applications ◽  
Control Command ◽  
Low Stiffness

While the majority of terrestrial multi-link manipulators can be considered in a purely kinematic sense due to their high stiffness, the launch mass restrictions of aerospace applications such as in-orbit assembly of large space structures result in low stiffness links being employed, meaning dynamics can no longer be ignored. This paper seeks to investigate the suitability of several different open and closed loop control techniques for application to the problem of end effector position control with minimal vibration for a low stiffness space based manipulator. Simulations of a representative planar problem with two flexible links are used to measure performance and sensitivity to parameter variation of: model predictive control, command shaping, and command shaping with linear quadratic regulator (LQR) feedback. An experimental testbed is then used to validate simulation results for the recommended command shaped controller.

A Controllability-Based TO Approach for the Piezoelectric Actuator Design Considering Multimodal Vibration Control

2020 ◽  
pp. 2043009
Author(s):  
Juliano F. Gonçalves ◽  
Emílio C. N. Silva ◽  
Daniel M. De Leon ◽  
Eduardo A. Perondi
Keyword(s):  
Vibration Control ◽  
Active Vibration Control ◽  
Optimization Procedure ◽  
Linear Quadratic Regulator ◽  
Time Interval ◽  
Control Performance ◽  
Linear Quadratic ◽  
Main Work ◽  
Design Variables ◽  
Material Interpolation

This paper addresses the design problem of piezoelectric actuators for multimodal active vibration control. The design process is carried out by a topology optimization procedure which aims at maximizing a control performance index written in terms of the controllability Gramian, which is a measure that describes the ability of the actuator to move the structure from an initial condition to a desired final state in a finite time interval. The main work contribution is that independent sets of design variables are associated with each modal controllability index, then the multi-objective problem can be split into independent single-objective problems. Thus, no weighting factors are required to be tuned to give each vibration mode a suitable relevance in the optimization problem. A material interpolation scheme based on the Solid Isotropic Material with Penalization (SIMP) and the Piezoelectric Material with Penalization (PEMAP) models is employed to consider the different sets of design variables and the sensitivity analysis is carried out analytically. Numerical examples are presented by considering the design and vibration control for a cantilever beam and a beam fixed at both ends to show the efficacy of the proposed formulation. The control performance of the optimized actuators is analyzed using a Linear-Quadratic Regulator (LQR) simulation.

scholarly journals Swing Vibration Control of Suspended Structure Using Active Rotary Inertia Driver System: Parametric Analysis and Experimental Verification

2019 ◽  
Vol 9 (15) ◽  
pp. 3144 ◽  
Author(s):  
Chunwei Zhang ◽  
Hao Wang
Keyword(s):  
Mathematical Model ◽  
Control System ◽  
Vibration Control ◽  
Parametric Analysis ◽  
Linear Quadratic Regulator ◽  
Shaking Table ◽  
Rotary Inertia ◽  
System Control ◽  
Linear Quadratic ◽  
Control Effectiveness

The Active Rotary Inertia Driver (ARID) system is a novel vibration control system that can effectively mitigate the swing vibration of suspended structures. Parametric analysis is carried out using Simulink based on the mathematical model and the effectiveness is further validated by a series of experiments. Firstly, the active controller is designed based on the system mathematical model and the LQR (linear quadratic regulator) algorithm. Next, the parametric analysis is carried out using Simulink to study the key parameters such as the coefficient of the control algorithm, the rotary inertia ratio. Lastly, the ARID system control effectiveness and the parametric analysis results are further validated by the shaking table experiments. The effectiveness and robustness of the ARID system are well verified. The dynamic characteristics of this system are further studied, and the conclusions of this paper provide a theoretical basis for further development of such unique control system.

THE EVALUATION OF CONTROLLER TRACKING PERFORMANCE BASED ON TAYLOR’S SERIES EXPANSION MODEL

2015 ◽  
Vol 74 (9) ◽  
Author(s):  
Maziyah Mat Noh ◽  
M. R. Arshad ◽  
Rosmiwati Mohd-Mokhtar
Keyword(s):  
Series Expansion ◽  
Sliding Mode ◽  
Equations Of Motion ◽  
Linear Quadratic Regulator ◽  
Tracking Performance ◽  
Convergence Time ◽  
Linear Quadratic ◽  
Glide Path ◽  
Expansion Model ◽  
Taylor’S Series

This paper presents the controller tracking performance of Underwater Glider. The controllers are designed based on linearised model. The equations of motion are restricted to longitudinal plane. The controllers are designed and tested for the glide path moving from 45° to 30° downward and upward. The model is linearised using Taylor’s series expansion linearisation method. The controller developed here is Sliding Mode Control (SMC), and Linear Quadratic Regulator (LQR). The performance of both controllers are compared and analysed. The simulations show SMC produce better performance with about over 30% faster than LQR based its convergence time.

Active Vibration Control of Smart Hull Structure Using Piezoelectric Composite Actuators

2008 ◽  
Vol 47-50 ◽  
pp. 137-140 ◽  
Author(s):  
Jung Woo Sohn ◽  
Seung Bok Choi
Keyword(s):  
Vibration Control ◽  
Fiber Composite ◽  
Equations Of Motion ◽  
Active Vibration Control ◽  
Piezoelectric Composite ◽  
Governing Equations ◽  
Linear Quadratic ◽  
Element Analysis ◽  
Hull Structure ◽  
Active Vibration

In this paper, active vibration control performance of the smart hull structure with Macro-Fiber Composite (MFC) is evaluated. The governing equations of motion of the hull structure with MFC actuators are derived based on the classical Donnell-Mushtari shell theory. Subsequently, modal characteristics are investigated and compared with the results obtained from finite element analysis and experiment. The governing equations of vibration control system are then established and expressed in the state space form. Linear Quadratic Gaussian (LQG) control algorithm is designed in order to effectively and actively control the imposed vibration. The controller is experimentally realized and control performances are evaluated.

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