Abstract
Positive position feedback control is the most common resonant control technique that has been studied for last three decades. As a low-pass filter, positive position feedback is very sensitive to low-frequency disturbances. To overcome this shortcoming of positive position feedback controller, negative derivative feedback controller, which acts as a bandpass filter and can effectively control the lower and higher frequency disturbances, has been developed recently. So far, there is no comparison work between positive position feedback and negative derivative feedback on flexible manipulator system. Consequently, to fill this gap, in this article, both positive position feedback and negative derivative feedback controllers are applied experimentally and analysed in terms of settling time and vibration attenuation at different damping ratios on a single link flexible manipulator featuring piezoelectric actuator. Moreover, robustness with respect to natural frequency variation is studied for the first time on flexible manipulator system. Based on experimental study conducted on the particular system developed in this article, it has been observed that negative derivative feedback controller is more effective than positive position feedback controller based on evaluated performance measures.
Highlights
Flexible manipulator offers a large number of advantages over rigid manipulators
Several vibration control techniques have been applied to flexible manipulator system during the last two decades.[1,2,3]
Shan et al applied positive position feedback (PPF) algorithm to control the vibration of a single link flexible manipulator.[16]
Summary
Flexible manipulator offers a large number of advantages over rigid manipulators. These include faster response time, lower power requirement, lower cost, high payload-to-weight ratio and so on.[1]. Shan et al applied PPF algorithm to control the vibration of a single link flexible manipulator.[16] Lately, NDF control has been introduced.[17] It works on feeding the velocity of structure to compensator and feeding back the compensator velocity multiplied with some gain to the structure in a negative sense. Large flexible space structures and space inflatable structures are one of the key applications of such techniques, where PPF and NDF controllers can be used to control structural vibration Since these controllers work on resonant control, they can be applied to control sound waves as well. The working principle of resonant control technique is very simple, and it produces a damping effect on particular vibration modes by applying a control force that is opposite in phase to the velocity of structure at the resonance frequencies under consideration. C value cannot always be taken equal to value and should be varied according to the performance and robustness required for a particular system
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