Parallel P-PD controller to achieve vibration and position control of a flexible beam

Robotic arms are considered as a cantilever beam fixed at one end and due to the length-to-weight ratio, it has a significant vibration-induced that needs to be controlled to achieve accurate position, speed control and to increase its efficiency. In this project, a discretized Timoshenko beam model...

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Bibliographic Details
Published inIAES international journal of robotics and automation Vol. 10; no. 2; p. 149
Main Authors Abbas, Ammar N., Irshad, Muhammad Asad
Format Journal Article
LanguageEnglish
Published Yogyakarta IAES Institute of Advanced Engineering and Science 01.06.2021
Subjects
Accelerometers
Actuators
Approximation
Automation
Cantilever beams
D C motors
Deformation
Electric motors
Engineering
Experimentation
Feedback
Finite element analysis
Fixed-end beams
Low density polyethylenes
Polyethylene
Position sensing
Proportional control
Proportional integral derivative
Robot arms
Robotics
Sensors
Speed control
Timoshenko beams
Vibration
Vibration control
Waveforms
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Summary:Robotic arms are considered as a cantilever beam fixed at one end and due to the length-to-weight ratio, it has a significant vibration-induced that needs to be controlled to achieve accurate position, speed control and to increase its efficiency. In this project, a discretized Timoshenko beam model is used to discuss the dynamics of the system. Further, to implement the control on the hardware an experimental setup is fabricated to observe the open-loop and closed-loop responses of the beam made of low-density polyethylene. An accelerometer as a feedback sensor is attached at one end of the flexible beam while another end is fixed at the moving cart having DC motor as an actuator. Simulink is used as the programming tool to perform all of the experimentation. Proportional-integral-derivative (PID) tuning is performed. Following that open-loop responses of the deflection of the beam parallel to the motion are observed with different input waveforms. By applying a proportional control scheme, another experiment is performed to demonstrate the disturbance rejection with an accelerometer as a feedback sensor, while ignoring position control. Finally, a PD and P based parallel control scheme is proposed to obtain simultaneously both position control and vibration reduction.
ISSN:2089-4856
2722-2586
2089-4856
DOI:10.11591/ijra.v10i2.pp149-160