scholarly journals Active Vibration Suppression of a 3-DOF Flexible Parallel Manipulator Using Efficient Modal Control

2014 ◽  
Vol 2014 ◽  
pp. 1-10 ◽  
Author(s):  
Quan Zhang ◽  
Jiamei Jin ◽  
Jianhui Zhang ◽  
Chunsheng Zhao
Keyword(s):  
Vibration Control ◽  
Dynamic Model ◽  
Parallel Manipulator ◽  
Vibration Suppression ◽  
Modal Control ◽  
Flexible Links ◽  
Vibration Sensors ◽  
Active Vibration Suppression ◽  
Active Vibration ◽  
Assumed Mode

This paper addresses the dynamic modeling and efficient modal control of a planar parallel manipulator (PPM) with three flexible linkages actuated by linear ultrasonic motors (LUSM). To achieve active vibration control, multiple lead zirconate titanate (PZT) transducers are mounted on the flexible links as vibration sensors and actuators. Based on Lagrange’s equations, the dynamic model of the flexible links is derived with the dynamics of PZT actuators incorporated. Using the assumed mode method (AMM), the elastic motion of the flexible links are discretized under the assumptions of pinned-free boundary conditions, and the assumed mode shapes are validated through experimental modal test. Efficient modal control (EMC), in which the feedback forces in different modes are determined according to the vibration amplitude or energy of their own, is employed to control the PZT actuators to realize active vibration suppression. Modal filters are developed to extract the modal displacements and velocities from the vibration sensors. Numerical simulation and vibration control experiments are conducted to verify the proposed dynamic model and controller. The results show that the EMC method has the capability of suppressing multimode vibration simultaneously, and both the structural and residual vibrations of the flexible links are effectively suppressed using EMC approach.

scholarly journals Active Vibration Control and Coupled Vibration Analysis of a Parallel Manipulator with Multiple Flexible Links

2016 ◽  
Vol 2016 ◽  
pp. 1-19 ◽  
Author(s):  
Quan Zhang ◽  
Chaodong Li ◽  
Jiantao Zhang ◽  
Jiamei Jin
Keyword(s):  
Vibration Control ◽  
Vibration Analysis ◽  
Parallel Manipulator ◽  
Dynamic Models ◽  
Vibration Suppression ◽  
Active Vibration Control ◽  
Coupled Vibration ◽  
Flexible Links ◽  
Active Vibration ◽  
The One

This paper addresses the active vibration control and coupled vibration analysis of a planar parallel manipulator (PPM) with three flexible links. Multiple piezoelectric ceramic transducers are integrated with the flexible links to constitute the smart beam structures, and hence the vibration of the flexible link can be self-sensed and self-controlled. To prevent the spillover phenomena and improve the vibration control efficiency, the independent modal space control combined with an input shaper is developed to suppress both the structural and the residual vibration of the flexible links. The coupled vibration features between rigid and elastic motions and the interaction effects among three flexible links are theoretically analyzed based on the one-pass rigid-flexible dynamic models. Numerical simulation and experiment results show that the vibration of the three flexible links is coupled through the moving platform and the vibration suppression efficiency is getting improved with the number of controlled flexible links increased.

Synthesis and Experimental Validation of a Delayed Reference Controller for Active Vibration Suppression in Mechanical Systems

2004 ◽  
Vol 72 (4) ◽  
pp. 623-627 ◽  
Author(s):  
P. Gallina ◽  
A. Trevisani
Keyword(s):  
Time Delay ◽  
Vibration Control ◽  
Experimental Validation ◽  
Vibration Suppression ◽  
Overhead Cranes ◽  
Simple Pendulum ◽  
Active Vibration Suppression ◽  
Control Scheme ◽  
Active Vibration ◽  
Two Degree Of Freedom

This paper introduces a non-time-based control scheme for active position and vibration control of two-degree-of-freedom systems by applying it to the path-tracking and swing control of a system composed of a trolley and a simple pendulum. The basic idea behind such a scheme is to make the path reference of the trolley a function of the time and of a time delay. This latter, which is affected by the measured oscillation, is calculated on-the-fly in order to reduce the swing phenomenon. The effectiveness of the proposed control scheme, which may have application to the control of overhead cranes, is proved experimentally.

Adaptive active vibration suppression of flexible beam structures

2008 ◽  
Vol 222 (3) ◽  
pp. 357-364 ◽  
Author(s):  
Y Xia ◽  
A Ghasempoor
Keyword(s):  
Vibration Control ◽  
Time Delays ◽  
Vibration Suppression ◽  
Control Strategies ◽  
Linear Optimization ◽  
Active Vibration Control ◽  
Flexible Beam ◽  
Active Vibration Suppression ◽  
Active Vibration ◽  
Suppression System

Vibration control strategies strive to reduce the effect of harmful vibrations on machinery and people. In general, these strategies are classified as passive or active. Although passive vibration control techniques are generally less complex, there is a limit to their effectiveness. Active vibration control strategies, on the other hand, can be very effective but require more complex algorithms and are especially susceptible to time delays. The current paper introduces a novel vibration suppression system using non-linear optimization. The proposed methodology eliminates the need for a feedback loop and the sensitivity to time delays. The system has been evaluated experimentally and the results show the validity of the proposed methodology.

Realization of Active Vibration Control on Piezoelectric Intelligent Flexible Beam

2011 ◽  
Vol 383-390 ◽  
pp. 5580-5585
Author(s):  
Da Fang Wu ◽  
Liang Huang ◽  
Fei Su ◽  
Cheng Xiang Liu ◽  
Hong Yuan Yang ◽  
...  
Keyword(s):  
Vibration Control ◽  
Cantilever Beam ◽  
Control Strategy ◽  
Vibration Mode ◽  
Vibration Suppression ◽  
Active Vibration Control ◽  
Flexible Beam ◽  
Modal Control ◽  
Structural Damping ◽  
Active Vibration

In this paper, the principle and method of active vibration control of a flexible cantilever beam with PZT actuators was studied. A strategy of active control on the first and second order vibration mode of the flexible cantilever beam are determined and implemented by using the independent modal control. Eexperimental results show that the structural damping of the flexible cantilever beam is improved effectively and excellent effect of vibration suppression is achieved with the control strategy.

Active Vibration Control of a 3-PRR Flexible Parallel Manipulator With PZT Actuators and Sensors

2008 ◽  
Author(s):  
Xuping Zhang ◽  
James K. Mills ◽  
William L. Cleghorn
Keyword(s):  
Vibration Control ◽  
Lead Zirconate Titanate ◽  
Control Strategy ◽  
Parallel Manipulator ◽  
Active Vibration Control ◽  
Structural Vibration ◽  
Mode Shapes ◽  
Control Input ◽  
Flexible Links ◽  
Active Vibration

This paper presents an experimental study on active vibration control of a moving 3-PRR parallel manipulator with three flexible intermediate links, with bonded lead zirconate titanate (PZT) actuators and sensors. Experimental modal tests are conducted to identify structural vibration mode shapes and natural frequencies used. These modal tests provide guidance to design the filter and determine the location of PZT transducers. A PZT actuator controller is developed based on strain rate feedback (SRF) control. A state-space model is formulated with the control input voltage applied to PZT actuators, and output generated from PZT sensors. Then, the design of an optimal active vibration controller is presented based on SRF for the parallel manipulator with flexible links with multiple bonded PZT transducers. Active vibration control experiments are conducted to demonstrate that the proposed active vibration control strategy is effective. Power spectral density (PSD) plots of vibrations illustrate that the structural vibration of flexible links is reduced effectively when the proposed vibration control strategy is employed.

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