Approximate Inertial Manifold-Based Model Reduction and Vibration Suppression for Rigid-Flexible Mechanical Arms

The dynamic characteristics of the mechanical arm with a rigid-flexible structure are very complex. The reason is that it is a complex DPS (distributed parameter system) with infinite dimension and nonlinearity in essence due to the rigid-flexible coupling. So, accurately positioning and controlling the rigid-flexible mechanical arms could be difficult. Therefore, a model reduction method of rigid-flexible mechanical arms based on the approximate inertial manifold is put forward. To repress the residual vibration of the end of the mechanical arm, a feedforward control strategy is designed. The high-dimensional solution of the vibration equation of the rigid-flexible mechanical arms is projected into the complete space composed of orthogonal decomposition modes. By using Galerkin’s method, the system is simplified and the approximate solution is obtained through the interaction between high-order and low-order modes. The truncated finite mode is also used to construct a lowest-order dynamic model on the basis of approximate inertia manifold. Given the reduced-order rigid-flexible mechanical arms dynamic model, dynamic response analysis is conducted to optimize the target position error and end residual vibration. A limited number of sinusoidal signals approximately combine the input signal, by using the particle swarm optimization algorithm to optimize the input signal, and the amplitude of the sinusoidal signal is corrected. The simulation results depict the superiority of the proposed method, which greatly suppresses the end residual vibration of the mechanical arm and realizes the accurate positioning of the end of the mechanical arm. In addition, the hardware experimental device of the rigid-flexible mechanical arms is constructed, and the experimental verification of the above method is put into effect. The simulation results of angular displacement and end vibration of the reduced model are accordant which is shown by the experimental results of the hardware platform.

Approximate inertial manifold-based order reduction of rigid-flexible coupling manipulator

An order reduction method for the flexible deformation response analysis of rigid flexible manipulators is proposed based on the approximate inertial manifold theory. This method allows a lower dimensional simplified model to be constructed from a subspace smaller than the entire state space. In this paper, truncated three-order modes are used to construct a first-order system of AIM. Compared with the traditional Galerkin method, the results show that the proposed method can reduce the degree of freedom of the system and improve the computational efficiency without obviously losing the precision of the solution, which is convenient for the subsequent vibration analysis and controller design of the system.

Perturbative-Iterative Computation of Inertial Manifolds of Systems of Delay-Differential Equations with Small Delays

Delay-differential equations belong to the class of infinite-dimensional dynamical systems. However, it is often observed that the solutions are rapidly attracted to smooth manifolds embedded in the finite-dimensional state space, called inertial manifolds. The computation of an inertial manifold yields an ordinary differential equation (ODE) model representing the long-term dynamics of the system. Note in particular that any attractors must be embedded in the inertial manifold when one exists, therefore reducing the study of these attractors to the ODE context, for which methods of analysis are well developed. This contribution presents a study of a previously developed method for constructing inertial manifolds based on an expansion of the delayed term in small powers of the delay, and subsequent solution of the invariance equation by the Fraser functional iteration method. The combined perturbative-iterative method is applied to several variations of a model for the expression of an inducible enzyme, where the delay represents the time required to transcribe messenger RNA and to translate that RNA into the protein. It is shown that inertial manifolds of different dimensions can be computed. Qualitatively correct inertial manifolds are obtained. Among other things, the dynamics confined to computed inertial manifolds display Andronov–Hopf bifurcations at similar parameter values as the original DDE model.