Experimental Study on Active Vibration Control of Flexible Manipulator Based on Improved PPF Algorithm

2014 ◽  
Vol 989-994 ◽  
pp. 2774-2777
Author(s):  
Fei Du ◽  
Tian Bing Ma
Keyword(s):  
Experimental Study ◽  
Vibration Control ◽  
Active Vibration Control ◽  
Flexible Manipulator ◽  
Experimental Result ◽  
Work Efficiency ◽  
Control Effect ◽  
Positioning Accuracy ◽  
Active Vibration ◽  
Modal Vibration

The positioning accuracy and work efficiency of flexible manipulator is seriously affected by its vibration. Therefore, vibration control of single joint flexible manipulator is studied by using an improved PPF algorithm based on LabVIEW and piezoelectric technology. Firstly, the improved PPF algorithm principle is introduced. Then, the experiment process is discussed in detail. Experimental result shows that the improved PPF algorithm can effectively control the first two modal vibration of flexible manipulator. The control effect is close to 14 dB and improved nearly 4.5 dB compared with PPF algorithm.

Optimal Placement of Piezoelectric Sensors and Actuators for Controlled Flexible Linkage Mechanisms

2005 ◽  
Vol 128 (2) ◽  
pp. 256-260 ◽  
Author(s):  
Xianmin Zhang ◽  
Arthur G. Erdman
Keyword(s):  
Vibration Control ◽  
Simulation Analysis ◽  
Active Vibration Control ◽  
Optimal Placement ◽  
Control Effect ◽  
Sensors And Actuators ◽  
Piezoelectric Sensors And Actuators ◽  
Active Vibration ◽  
Flexible Mechanism ◽  
Flexible Linkage

The optimal placement of sensors and actuators in active vibration control of flexible linkage mechanisms is studied. First, the vibration control model of the flexible mechanism is introduced. Second, based on the concept of the controllability and the observability of the controlled subsystem and the residual subsystem, the optimal model is developed aiming at the maximization of the controllability and the observability of the controlled modes and minimization of those of the residual modes. Finally, a numerical example is presented, which shows that the proposed method is feasible. Simulation analysis shows that to achieve the same control effect, the control system is easier to realize if the sensors and actuators are located in the optimal positions.

Active vibration control of a multi-link space flexible manipulator with torque feedback

1991 ◽  
Vol 6 (1) ◽  
pp. 23-39 ◽  
Author(s):  
Tadashi Komatsu ◽  
Michihiro Uenohara ◽  
Shoichi Kura ◽  
Hirofumi Miura ◽  
Isao Shimoyama
Keyword(s):  
Vibration Control ◽  
Active Vibration Control ◽  
Flexible Manipulator ◽  
Active Vibration
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