Dynamic modeling and vibration suppression for double flexible manipulator with a tip payload

In the manipulator transmission system, there are many nonlinear inducements, such as flexibility and friction torque. It is easy to lead to fluctuations of the output rotation speed of the system, and even cause serious resonance. Therefore, PI control strategy based on fuzzy theory is proposed to...

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Bibliographic Details
Published inJournal of mechanical science and technology Vol. 37; no. 9; pp. 4441 - 4454
Main Authors Zhou, Sainan, Li, Xiaopeng, Yin, Meng, Shang, Dongyang, Li, Zhengding
Format Journal Article
LanguageEnglish
Published Seoul Korean Society of Mechanical Engineers 01.09.2023
Springer Nature B.V
대한기계학회
Subjects
Control
Control methods
Dynamic models
Dynamical Systems
Engineering
Flexible manipulators
Fuzzy control
Industrial and Production Engineering
Mechanical Engineering
Original Article
Rotation
Torque
Tracking errors
Vibration
Vibration control
기계공학
PI control
Fuzzy tuning
Double-flexible manipulator
Modal truncation
Load flexible
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Summary:In the manipulator transmission system, there are many nonlinear inducements, such as flexibility and friction torque. It is easy to lead to fluctuations of the output rotation speed of the system, and even cause serious resonance. Therefore, PI control strategy based on fuzzy theory is proposed to solve this trouble. Firstly, the dynamic equations of the transmission system of the double flexible manipulator was established. Then, the effects of friction torque and mode order on the output characteristics of the system are analyzed. Based on the fuzzy rules, the controller parameters change constantly to reduce the oscillation of the servo system output rotation speed. Finally, numerical simulation analysis and control experiment verify the effectiveness of the control strategy described in this paper. The results are that the proposed control method can decrease the average value of the load rotation angle tracking error by 13.8 %.
ISSN:1738-494X
1976-3824
DOI:10.1007/s12206-023-0803-0