Smart Structures and Systems

  • 제1권1호
  • /
  • Pages.13-27
  • /
  • 2005
  • /
  • 1738-1584(pISSN)
  • /
  • 1738-1991(eISSN)
테크노프레스 (Techno-Press)
권호 표지
DOI QR코드

DOI QR Code

Simultaneous precision positioning and vibration suppression of reciprocating flexible manipulators

  • Ma, Kougen (Intelligent and Composite Materials Laboratory, Department of Mechanical Engineering, University of Hawaii at Manoa) ;
  • Ghasemi-Nejhad, Mehrdad N. (Intelligent and Composite Materials Laboratory, Department of Mechanical Engineering, University of Hawaii at Manoa)
  • 투고 : 2003.10.23
  • 심사 : 2004.07.27
  • 발행 : 2005.01.25
⟨ 이전 논문 다음 논문 ⟩

초록

Simultaneous precision positioning and vibration suppression of a reciprocating flexible manipulator is investigated in this paper. The flexible manipulator is driven by a multifunctional active strut with fuzzy logic controllers. The multifunctional active strut is a combination of a motor assembly and a piezoelectric stack actuator to simultaneously provide precision positioning and wide frequency bandwidth vibration suppression capabilities. First, the multifunctional active strut and the flexible manipulator are introduced, and their dynamic models are derived. A control strategy is then proposed, which includes a position controller and a vibration controller to achieve simultaneous precision positioning and vibration suppression of the flexible manipulator. Next, fuzzy logic control approach is presented to design a fuzzy logic position controller and a fuzzy logic vibration controller. Finally, experiments are conducted for the fuzzy logic controllers and the experimental results are compared with those from a PID control scheme consisting of a PID position controller and a PID vibration control. The comparison indicates that the fuzzy logic controller can easily handle the non-linearity in the strut and provide higher position accuracy and better vibration reduction with less control power consumption.

키워드

과제정보

연구 과제 주관 기관 : Office of Naval Research

참고문헌

  1. Feliu, V., Rattan, K. S. and Brown, H. (1990), "Adaptive control of a single-link flexible manipulator", IEEE Control Systems Magazine, 10(2), 29-33.
  2. Ge, S. S., Lee, T. H. and Zhu, G. (1998), "Improving regulation of a single-link flexible manipulator with strain feedback", IEEE Trans. on Robotics and Automation, 14(1), 179-185. https://doi.org/10.1109/70.660869
  3. Ghasemi-Nejhad, M. N. and Pourjalali, S. (2003), "Manufacturing and testing of active composite panels with embedded piezoelectric sensors and actuators: wires out by molded-in holes", Smart Structures and Integrated Systems, Amr. M. Baz, Proceedings of SPIE Smart Materials and Structures, San Diego, CA, March, 5056, 373-383.
  4. Ghasemi-Nejhad, M. N. and Russ, R. (2003), "Manufacturing and active control testing of active composite panels with embedded piezoelectric sensors and actuators: wires out by cut holes and embedding", ASME International Mechanical Engineering Congress and Exposition, Washington, D.C., November, paper no. IMECE 2003-43017, 1-8.
  5. Hesselroth, T., Sarkar, K., Smagt, P. van der and Schulten K. (1994), "Neural network control of a pneumatic robot arm", IEEE Trans. on Systems, Man, and Cybernetics, 24(1), 28-38. https://doi.org/10.1109/21.259683
  6. Kalayccioglu, S., Giray, M. and Asmer, H. (1998), "Vibration control of flexible manipulators using smart structures", J. Aerospace Eng., 11(3), 90-94. https://doi.org/10.1061/(ASCE)0893-1321(1998)11:3(90)
  7. Lenz, K., Ozbay, H., Tannebaum, A., Turi, J. and Morton, B. (1991), "Frequency domain analysis and robust control design for an ideal flexible beam", Automatica, 27, 947-961. https://doi.org/10.1016/0005-1098(91)90130-T
  8. Li, T. -H. S., Lin, I-Fong and Hung, Tsung-Ming (2002), "Behavior-based fuzzy logic control for a one-on-one robot soccer competition", Proceedings of the 2002 IEEE International Conference on Fuzzy Systems, 1, 470-475.
  9. Ma, K. G., Pourjalaliand, S. and Ghasemi-Nejhad, M. N. (2002), "Hybrid adaptive control of intelligent structures with simultaneous precision positioning and vibration suppression", Modeling, Signal Processing, and Control, Proceedings of SPIE Conference on Smart Materials and Structures, San Diego, CA, March, 4693, 13-24.
  10. Ma, K. G. (2003), "Vibration control of smart structures with bonded PZT patches: novel adaptive filtering algorithm and hybrid control scheme", Smart Materials and Structures, 12(3), 473-482. https://doi.org/10.1088/0964-1726/12/3/319
  11. Ma, K. G. and Ghasemi-Nejhad, M. N. (2003), "Simultaneous precision positioning and vibration suppression of smart structures ---- adaptive control methods and comparison", Proceedings of IEEE the 42nd Conference on Decision and Control, Maui, HI, December, 6, 6386-6391.
  12. Ma, K. G. and Ghasemi-Nejhad, M. N. (2004), "Frequency-weighted hybrid adaptive control for simultaneous precision positioning and vibration suppression of intelligent composite structures", Smart Materials and Structures, 13(5), 1143-1154. https://doi.org/10.1088/0964-1726/13/5/019
  13. Mathworks (2001) Fuzzy Logic Toolbox Users Guide, The Mathworks, Inc.
  14. Mohamed, Z. and Tokhi, M. O. (2004), "Command shaping techniques for vibration control of a flexible robot manipulator," Mechatronics, 14, 69-90. https://doi.org/10.1016/S0957-4158(03)00013-8
  15. Park, H. W., Yang, H. S., Park, Y. P. and Kim, S. H. (1999), "Position and vibration control of a flexible robot manipulator using hybrid controller", Robotics and Autonomous Systems, 28, 31-41. https://doi.org/10.1016/S0921-8890(99)00027-5
  16. Park, N. C., Yang, H. S., Park, H. W. and Park, Y. P. (2002), "Position/vibration control of two-degree-offreedom arms having one flexible link with artificial pneumatic muscle actuators", Robotics and Autonomous Systems, 40, 239-253. https://doi.org/10.1016/S0921-8890(02)00248-8
  17. Shin, H. C. and Choi, S. B. (2001), "Position control of a two-link flexible manipulator featuring piezoelectric actuators and sensors", Mechatronics, 11, 707-729. https://doi.org/10.1016/S0957-4158(00)00045-3
  18. Thomas, S. and Bandyopadhyay, B. (1997), "Position control of single link flexible manipulator by variable structure model following control", Trans. ASME Journal of Dynamic Systems, Measurement, and Control, 119(2), 330-335. https://doi.org/10.1115/1.2801259
  19. Tzes, A. and Yurkovich, S. (1993), "An adaptive input shaping control scheme for vibration suppression in slewing flexible structures", IEEE Trans. Control Systems Technology, 1(2), 114-121. https://doi.org/10.1109/87.238404
  20. Verbruggen, H. B. and Babuška, R. (1999), Fuzzy Logic Control: Advances in Applications, World Scientific.
  21. Xu, L. and Yao, B. (2001), "Output feedback adaptive robust precision motion control of linear motor", Automatica, 37, 1029-1039. https://doi.org/10.1016/S0005-1098(01)00052-8
  22. Yen, J. and Langari, R. (1999), Fuzzy Logic: Intelligence, Control, and Information, Prentice Hall.

피인용 문헌

  1. Finite Element Method for Active Vibration Suppression of Smart Composite Structures using Piezoelectric Materials vol.19, pp.3, 2006, https://doi.org/10.1177/0892705706062193
  2. Adaptive input shaping and control for simultaneous precision positioning and vibration suppression of smart composite plates vol.16, pp.5, 2007, https://doi.org/10.1088/0964-1726/16/5/043
  3. Adaptive Control of Flexible Active Composite Manipulators Driven by Piezoelectric Patches and Active Struts With Dead Zones vol.16, pp.5, 2008, https://doi.org/10.1109/TCST.2007.916337
  4. Functionally upgraded passive devices for seismic response reduction vol.4, pp.6, 2008, https://doi.org/10.12989/sss.2008.4.6.741