Analysis, Modelling and Simulation for the Intelligent Active Vibration Control of a Combined Plant using a New Gyroscopic Combined Actuator Model

Abstract

There have been several research conducted worldwide on analysis, modelling, and controlling for flexible manipulator architectures. In this paper, one of the most interesting areas in the science of rotational dynamics as the study of spinning solid objects, such as Gyroscopes (G) has been investigated as a new approach for the improvement of the gyroscope non-linear behaviour which controls the magnitude and the direction of the torque separately in the frequency domain by describing a New Graphical Combined Actuator Model (NGCAM) for the Intelligent Active Vibration Control (IAVC) of a Combined Plant (CP) as a linear-nonlinear combined single link Robotics Flexible Manipulator (RFM) structure which rotates in the horizontal plane with two degrees of freedom in order to have a performance assessment and suppressing vibrations. The effect of the parameter variation on the stability and dynamic nonlinear behaviour of the gyroscope in gimbals with a feedback sensor control system has been formed and optimized by the Modified Fuzzy Logic (MFL) algorithm as an artificial intelligence control technique and the Proportional, Integral and Derivative (PID) tuning by the modified Ziegler Nichols (ZN) method. To validate the gyroscope stabilization to be implemented into the RFM for controlling the vibration, the proposed method combines Active Force Control (AFC) technique with Fuzzy Logic (FL) and PID as the (AVC-FL-PID) controller for the NGCAM, CP and RFM by using MATLAB & SIMULINK program is created. For a linear-non-linear combination system, it is better to use a linear-non-linear combination controller. Simulation results illustrate the effectiveness of the proposed strategy which is significantly and quite satisfactory about 25 (%) generally better than compared to the other systems’ performance criteria and is so clear and significant optimization is visible than compared to the other conventional actuators such as PZTs and other control strategies in improvement stabilization and vibration control of RFM structures. The advantages of the proposed method and the possibilities of further improvements are discussed.