Lookup table control method for vibration suppression of a flexible manipulator with optimization of the minimum settling time and energy consumption

2011 ◽  
Vol 14 (3) ◽  
pp. 693-706 ◽  
Author(s):  
Van Phuoc Phan ◽  
Nam Seo Goo ◽  
Kwang-Joon Yoon ◽  
Do-Soon Hwang
Keyword(s):  
Energy Consumption ◽  
Vibration Suppression ◽  
Control Method ◽  
Settling Time ◽  
Lookup Table ◽  
Flexible Manipulator ◽  
Time And Energy

scholarly journals The Study of Dynamic Modeling and Multivariable Feedback Control for Flexible Manipulators with Friction Effect and Terminal Load

Sensors ◽  
2021 ◽  
Vol 21 (4) ◽  
pp. 1522
Author(s):  
Fuli Zhang ◽  
Zhaohui Yuan
Keyword(s):  
Dynamic Model ◽  
Vibration Suppression ◽  
Control Method ◽  
Coupling Effect ◽  
Flexible Manipulator ◽  
Flexible Beam ◽  
Robot Dynamics ◽  
Joint Friction ◽  
Balance Principle ◽  
Multivariable Feedback

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.

Vibration control of coupled Duffing oscillators in flexible single-link manipulators

2020 ◽  
pp. 107754632095259
Author(s):  
Jie Huang ◽  
Jinchen Ji
Keyword(s):  
High Speed ◽  
Vibration Suppression ◽  
Control Method ◽  
Negative Impact ◽  
Nonlinear Modeling ◽  
Flexible Manipulator ◽  
Flexible Link ◽  
Structural Nonlinearity ◽  
Single Link ◽  
Coupled Duffing Oscillators

Motion-induced oscillations of the flexible single link and its payload at the tip have negative impact on the anticipated performance of the flexible manipulators and thus should be suppressed to achieve tip positioning accuracy and high-speed operation. Because of the structural flexibility, the dynamics of the flexible manipulator can be described by coupled Duffing oscillators when considering the inherent structural nonlinearity of the flexible link into the dynamic modeling. However, little research has been focused on addressing the dynamic coupling issue in the nonlinear modeling of flexible-link manipulators using coupled Duffing oscillators. This article presents coupled Duffing oscillators for the nonlinear modeling of flexible single-link manipulators and then proposes a control method for suppressing the nonlinear vibrations of the coupled Duffing oscillators. Simulated and experimental results obtained from a flexible single-link manipulator test bench are in good agreement with the proposed nonlinear modeling and also demonstrate the effectiveness of the proposed control techniques for vibration suppression of the flexible manipulator.

scholarly journals Modelling and Composite Control of Single Flexible Manipulators with Piezoelectric Actuators

2016 ◽  
Vol 2016 ◽  
pp. 1-14 ◽  
Author(s):  
En Lu ◽  
Wei Li ◽  
Xuefeng Yang ◽  
Mengbao Fan ◽  
Yufei Liu
Keyword(s):  
Vibration Suppression ◽  
Control Method ◽  
Sliding Mode ◽  
Piezoelectric Actuators ◽  
Flexible Manipulator ◽  
Optimal Placement ◽  
Flexible Manipulators ◽  
Linear Quadratic ◽  
Fast Subsystem ◽  
Slow Subsystem

The piezoelectric actuators are used to investigate the active vibration control of flexible manipulators in this paper. Based on the assumed mode method, piezoelectric coupling model, and Hamilton’s principle, the dynamic equation of the single flexible manipulator (SFM) with surface bonded actuators is established. Then, a singular perturbation model consisted of a slow subsystem and a fast subsystem is formulated and used for designing the composite controller. The slow subsystem controller is designed by fuzzy sliding mode control method, and the linear quadratic regulator (LQR) optimal control method is used to design fast subsystem controller. Furthermore, the changing trends of natural frequencies along with the changes in the position of piezoelectric actuators are obtained through the ANSYS Workbench software, by which the optimal placement of actuators is determined. Finally, numerical simulations and experiments are presented. The results demonstrate that the method of optimal placement is feasible based on the maximal natural frequency, and the composite controller presented in this paper can not only realize the trajectory tracking of the SFM and has a good result on the vibration suppression.

scholarly journals Optimal Trajectory Planning of the Variable-Stiffness Flexible Manipulator Based on CADE Algorithm for Vibration Reduction Control

2021 ◽  
Vol 9 ◽  
Author(s):  
Qiang Cheng ◽  
Wenxiang Xu ◽  
Zhifeng Liu ◽  
Xiaolong Hao ◽  
Yi Wang
Keyword(s):  
Trajectory Planning ◽  
Optimal Trajectory ◽  
Vibration Suppression ◽  
Control Method ◽  
Minimum Energy ◽  
Variable Stiffness ◽  
Robotic Manipulators ◽  
Flexible Manipulator ◽  
Vibration Displacement ◽  
Optimal Trajectory Planning

Robotic manipulators are widely used for precise operation in the medical field. Vibration suppression control of robotic manipulators has become a key issue affecting work stability and safety. In this paper an optimal trajectory planning control method to suppress the vibration of a variable-stiffness flexible manipulator considering the rigid-flexible coupling is proposed. Through analyzing the elastic deformation of the variable-stiffness flexible manipulator, a distributed dynamic physical model of the flexible manipulator is constructed based on the Hamilton theory. Based on the mathematical model of the system, the design of the vibration damping controller of the flexible manipulator is proposed, and the control system with nonlinear input is considered for numerical analysis. According to the boundary conditions, the vibration suppression effect of the conventional and the variable-stiffness flexible manipulator is compared. The motion trajectory of the variable-stiffness flexible manipulator and compare the vibration response from different trajectories. Then, with minimum vibration displacement, minimum energy consumption and minimum trajectory tracking deviation as performance goals, the trajectory planning of the variable-stiffness flexible manipulator movement is carried out based on the cloud adaptive differential evolution (CADE) optimization algorithm. The validity of the proposed trajectory planning method is verified by numerical simulation.

scholarly journals Economical Speed for Optimizing the Travel Time and Energy Consumption in Train Scheduling using a Fuzzy Multi-Objective Model

2021 ◽  
Author(s):  
Ahmad Reza Jafarian-Moghaddam
Keyword(s):  
Energy Consumption ◽  
Travel Time ◽  
Pollutant Emissions ◽  
Scheduling Problems ◽  
Train Scheduling ◽  
Multi Objective ◽  
Consumption Ratio ◽  
Proposed Model ◽  
Objective Model ◽  
Time And Energy

AbstractSpeed is one of the most influential variables in both energy consumption and train scheduling problems. Increasing speed guarantees punctuality, thereby improving railroad capacity and railway stakeholders’ satisfaction and revenues. However, a rise in speed leads to more energy consumption, costs, and thus, more pollutant emissions. Therefore, determining an economic speed, which requires a trade-off between the user’s expectations and the capabilities of the railway system in providing tractive forces to overcome the running resistance due to rail route and moving conditions, is a critical challenge in railway studies. This paper proposes a new fuzzy multi-objective model, which, by integrating micro and macro levels and determining the economical speed for trains in block sections, can optimize train travel time and energy consumption. Implementing the proposed model in a real case with different scenarios for train scheduling reveals that this model can enhance the total travel time by 19% without changing the energy consumption ratio. The proposed model has little need for input from experts’ opinions to determine the rates and parameters.

Research of vibration and crack propagation controls on an asymmetrical cracked rotor

2021 ◽  
pp. 107754632199822
Author(s):  
Jun Liu ◽  
Zhu Han ◽  
Rong Hu
Keyword(s):  
Crack Propagation ◽  
Vibration Suppression ◽  
Control Method ◽  
Element Model ◽  
Electromagnetic Actuator ◽  
Contact Method ◽  
Cracked Rotor ◽  
Mapping Model ◽  
Differential Control ◽  
Opening And Closing

To investigate vibration characteristics and delay crack propagations of an asymmetric cracked rotor, the 3D finite element model of the rotor system with a nonlinear contact method is established. Resonance characteristics of the asymmetrical rotor without a crack and within different locations of a crack are investigated systematically. Numerical results show that a crack affects vibration frequencies and the unstable region of the rotor. Meanwhile, an improved proportional integral differential control method with the electromagnetic actuator is used to accomplish the delay crack propagation and the vibration suppression. Based on the mapping model of opening and closing states of a crack, the effects of rotational speeds, an unbalance, and asymmetries of the rotor are discussed in detail. Experimental results show that vibrations and the breathing behavior of cracks in the rotor with the electromagnetic actuator can be suppressed, and the effectiveness of the proposed mapping model of opening and closing states of a crack is verified.

scholarly journals Trade-Off between Operating Time and Energy Consumption in Pulsed Electric Field Electrodialysis: A Comprehensive Simulation Study

Membranes ◽  
2021 ◽  
Vol 11 (1) ◽  
pp. 43
Author(s):  
Manuel César Martí-Calatayud ◽  
Mario Sancho-Cirer Poczatek ◽  
Valentín Pérez-Herranz
Keyword(s):  
Energy Consumption ◽  
Electric Field ◽  
Simulation Study ◽  
Specific Energy ◽  
Operating Time ◽  
Specific Energy Consumption ◽  
Threshold Value ◽  
Pulsed Electric Field ◽  
Pulse Frequency ◽  
Time And Energy

Electrodialysis (ED) has been recently introduced in a variety of processes where the recovery of valuable resources is needed; thus, enabling sustainable production routes for a circular economy. However, new applications of ED require optimized operating modes ensuring low energy consumptions. The application of pulsed electric field (PEF) electrodialysis has been demonstrated to be an effective option to modulate concentration polarization and reduce energy consumption in ED systems, but the savings in energy are usually attained by extending the operating time. In the present work, we conduct a comprehensive simulation study about the effects of PEF signal parameters on the time and energy consumption associated with ED processes. Ion transport of NaCl solutions through homogeneous cation-exchange membranes is simulated using a 1-D model solved by a finite-difference method. Increasing the pulse frequency up to a threshold value is effective in reducing the specific energy consumption, with threshold frequencies increasing with the applied current density. Varying the duty cycle causes opposed effects in the time and energy usage needed for a given ED operation. More interestingly, a new mode of PEF functions with the application of low values of current during the relaxation phases has been investigated. This novel PEF strategy has been demonstrated to simultaneously improve the time and the specific energy consumption of ED processes.

Vibration attenuation of a two-link flexible arm carried by a translational stage

2018 ◽  
Vol 24 (23) ◽  
pp. 5650-5664 ◽  
Author(s):  
Shang–Teh Wu ◽  
Shan-Qun Tang ◽  
Kuan–Po Huang
Keyword(s):  
Feedback Loop ◽  
Control Method ◽  
Flexible Manipulator ◽  
Closed Loop System ◽  
Flexible Arm ◽  
Vibration Attenuation ◽  
Shaft Encoder ◽  
High Frequency Vibrations ◽  
Spatial Derivatives ◽  
Derivatives Of

This paper investigates the vibration control of a two-link flexible manipulator carried by a translational stage. The first and the second links are each driven by a stage motor and a joint motor. By treating the joint motor as a virtual spring, the two-link manipulator can be regarded as an integral flexible arm driven by the stage motor. A noncollocated controller is devised based on feedback from the deflection of the virtual spring, which can be measured by a shaft encoder. Stability of the closed-loop system is analyzed by examining the spatial derivatives of the modal functions. By including a bandpass filter in the feedback loop, residual vibrations can be attenuated without exciting high-frequency vibrations. The control method is simple to implement; its effectiveness is confirmed by simulation and experimental results.

scholarly journals Dynamic modelling and vibration suppression of a single-link flexible manipulator with two cables

2021 ◽  
Vol 162 ◽  
pp. 104347
Author(s):  
Lewei Tang ◽  
Marc Gouttefarde ◽  
Haining Sun ◽  
Lairong Yin ◽  
Changjiang Zhou
Keyword(s):  
Vibration Suppression ◽  
Dynamic Modelling ◽  
Flexible Manipulator ◽  
Single Link
Sign in / Sign up

Export Citation Format

Share Document